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Tm hiu cm bin siu m SRF05

GVHD: Ths. Trn Nguyn Bo Trn

B CNG THNG
TRNG I HC CNG NGHIP TP.HCM
KHOA CNG NGH IN T
B MN K THUT VI X L
F@G

TIU LUN

GVHD

: Ths. Trn Nguyn BoTrn

Sinh Vin : Ng Minh Hong


MSSV : 08115001
Lp HP : 110205303
Tp. H Ch Minh, thng 7 nm 2010

Sinh vin : Ng Minh Hong MSSV : 08115001

http://www.ebook.edu.vn

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Tm hiu cm bin siu m SRF05

GVHD: Ths. Trn Nguyn Bo Trn

rc tin em xin chn thnh gi li cm n n ban gim hiu trng i


Hc Cng Nghip TpHCM to iu kin cho chng em c mt mi
trng hc tp tt vi c s khang trang y tin nghi, to iu kin
thun li cho vic hc tp v lm tiu lun ca em.

Em xin chn thnh cm n cc thy Khoa Cng Ngh in t, thy gio


hng dn, to nhiu iu kin, hng dn tn tnh c th, pht huy cho em tnh
t hc, t tm hiu v kho st cc linh kin in t v cch thc hot ng ca
chng, c th l vi x l 8051; hnh thnh cho em phng php nghin cu, tm
ti, tip cn vi cc cng ngh vi iu khin.Trau di cho em k nng hc tp nng
ng v sng to, gip cho em tip cn cc h thng x l thng minh trong thc
t mt cch thit thc hn. Khng c g qu gi hn li cm n, li cm n chn
thnh v knh trng xin gi n cc qu thy c gio.

Sinh vin : Ng Minh Hong MSSV : 08115001

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Tm hiu cm bin siu m SRF05

GVHD: Ths. Trn Nguyn Bo Trn

MC LC

TRANG

Li m u ...................................................................................................... 4
Phn m u .................................................................................................... 5
1.Mt s loi cm bin siu m ............................................................... 5
2.Thng s mt s loi cm bin siu m SRF ....................................... 6
3.Mt s vi iu khiu h 8051 ............................................................... 7
Phn ni dung .................................................................................................. 8
1.Cm bin siu m v c im k thut ............................................... 8
2.Vi iu khin 8051 ............................................................................. 13
3.Giao tip gia 8051 vi cm bin siu m SRF05 ............................. 14
4.Mt s ng dng ca SRF05 vi b vi iu khin ............................ 17
Phn kt lun ................................................................................................. 19
Ti liu tham kho ......................................................................................... 19

Sinh vin : Ng Minh Hong MSSV : 08115001

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Tm hiu cm bin siu m SRF05

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hc v nghin cu l mt vn quan trng khng th thiu trong s


nghp hc v b. Bi tiu lun ny c xy dng da trn nhng hiu bit
ca em c c t vic c v dch cc ti liu c lin quan, t c kt
nn theo cch hiu ca c nhn mnh. B cc ca bi tiu lun ny gm c 3 phn :

Phn m u : Gii thiu s lc ti


Phn ni dung : Cm bin siu m SRF05 v giao tip ca SRF05 vi vi
iu khin 8051.
Phn kt lun : Nhng vn c kt c.
Em rt mong c s nhn xt chn tnh v nh gi c th ca thy cng s gp
mt thit ca cc bn trong lp.
D c b sung nhiu ln, nhng bi tiu lun khng trnh khi nhng
hn ch v thiu st. Rt mong c s ng gp v ph bnh ca thy em c
th lm tt hn nhng bi tiu lun khc.

Sinh vin : Ng Minh Hong MSSV : 08115001

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Tm hiu cm bin siu m SRF05

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PHN M U : GII THIU S LC


1. Mt s loi cm bin siu m :

Cm bin sin m c nhiu loi, ty theo cng dng nh nhn bit vt trong khong
cch gn hay xa, nhn bit cc vt c tnh cht khc nhau v trong nhng iu kin hot
ng khc nhau m ngi ta ch to cc loi cm bin siu m cng khc nhau.
1.1. Cm bin siu m v nguyn tc TOF (Time Of Flight)
Sng siu m c truyn i trong khng kh vi vn tc khong 343m/s. Nu mt
cm bin pht ra sng siu m v thu v cc sng phn x ng thi, o c khong
thi gian t lc pht i ti lc thu v, th my tnh c th xc nh c qung ng m
sng di chuyn trong khng gian. Qung ng di chuyn ca sng s bng 2 ln
khong cch t cm bin ti chng ngoi vt, theo hng pht ca sng siu m.Hay
khong cch t cm bin ti chng ngi vt s c tnh theo nguyn l TOF:
d = v t/2

Sinh vin : Ng Minh Hong MSSV : 08115001

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Tm hiu cm bin siu m SRF05

GVHD: Ths. Trn Nguyn Bo Trn

1.2. Tm qut ca cm bin siu m :


Cm bin siu m c th c m hnh ha thnh mt hnh qut, trong cc im
gia dng nh khng c chng ngi vt, cn cc im trn bin th dng nh c
chng ngi vt nm u .

2. Thng s mt s loi cm bin siu m SRF


Range
Cm
Thng
Echoes
Angle
Ti
Ti
bin
tin
**
*
thiu
a
SRF02

I2C /
Serial

SRF04

Ghi ch

6m

45

Mt

70 ms

K thut
3 cm
s

3m

45

Mt

100 s - 36 ms

SRF05

K thut
3 cm
s

4m

45

Mt

100 s - 36 ms

SRF08

I2C

3 cm

6m

45

17

65 ms

BC

SRF10

I2C

3 cm

6m

60

Mt

65 ms

AB

10 cm

1,2 m 15

Mt

10 ms

AD

SRF235 I2C

15 cm

Thi gian
khc nhau,

*: c tnh gc ca hnh nn cm bin 1 / 2 cm bin


**: S vang ghi li bi cm bin. y l nhng ting vng ghi t c gn y nht, v
c ghi mi bng mi ln khc nhau.
A: Nhng cm bin nh hn in hnh (SRF 05/04 / 08) kch thc.
B: Phm vi thi gian c th c iu chnh xung bng cch iu chnh c.

Sinh vin : Ng Minh Hong MSSV : 08115001

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Tm hiu cm bin siu m SRF05

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C: cm bin ny cng bao gm mt photocell mt trc pht hin nh sng.


D: Hot ng mt tn s 235kHz cao hn.

3. Mt s loi vi iu khin h 8051 :


Chip
8031
8032
8051
8052
8751
8752
8951
8952

ROM trong
0 KB
0 KB
4 KB PROM
8KB PROM
4KB UV-EPROM
8KB UV-EPROM
4 KB FLASH ROM
8 KB FLASH ROM

RAM trong
128 byte
256 byte
128 byte
256 byte
128 byte
256 byte
128 byte
256 byte

B nh thi
2
3
2
3
2
3
2
3

S chn vi iu khin 8052/8031

Sinh vin : Ng Minh Hong MSSV : 08115001

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PHN NI DUNG :
CM BIN SIU M SRF05 V VI IU KHIN 8051
1. Cm bin siu m SRF05 v c im k thut
1.1. Gii thiu
+ SRF05 l mt bc pht trin t
SRF04, c thit k lm tng tnh linh
hot, tng phm vi, ngoi ra cn gim bt
chi ph. SRF05 l hon ton tng thch vi
SRF04. Khong cch c tng t 3 mt
n 4 mt.
+ SRF05 cho php s dng mt chn duy
nht cho c kch hot v phn hi, do tit
kim gi tr trn chn iu khin. Khi chn
ch khng kt ni, th SRF05 hot ng ring bit chn kch hot v v chn hi tip,
nh SRF04. SRF05 bao gm mt thi gian tr trc khi xung phn hi mang li iu
khin chm hn chng hn nh b iu khin thi gian c bn Stamps v Picaxe thc
hin cc xung lnh.
1.2. Cc ch ca SRF05
1.2.1. Ch 1 : Tng ng SRF04 tch bit kch hot v phn hi
Ch ny s dng ring bit chn kch hot v chn phn hi, v l ch n gin
nht s dng. Tt c cc chng trnh in hnh cho SRF04 s lm vic cho SRF05
ch ny. s dng ch ny, ch cn chn ch khng kt ni - SRF05 c mt
ni dng trn chn ny .

Sinh vin : Ng Minh Hong MSSV : 08115001

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Tm hiu cm bin siu m SRF05

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1.2.2. Ch 2 Dng mt chn cho c kch hot v phn hi


Ch ny s dng mt chn duy nht cho c tn hiu kch hot v hi tip, v c
thit k lu cc gi tr trn chn ln b iu khin nhng. s dng ch ny,
chn ch kt ni vo chn mass. Tn hiu hi tip s xut hin trn cng mt chn vi
tn hiu kch hot. SRF05 s khng tng dng phn hi cho n 700uS sau khi kt thc
cc tn hiu kch hot.

s dng ch 2 vi cc Stamps BS2 c bn, ta ch cn s dng PULSOUT v


PULSIN trn cng mt chn, nh sau :

Sinh vin : Ng Minh Hong MSSV : 08115001

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Tm hiu cm bin siu m SRF05

SRF05 PIN 15
Range VAR Word
SRF05 = 0
PULSOUT SRF05, 5
PULSIN SRF05, 1, Range
Range = Range/29

GVHD: Ths. Trn Nguyn Bo Trn

s dng pin cho c hai v kch hot echo


xc nh phm vi bin 16 bit
bt u bng pin thp
a ra kch hot pulse 10uS (5 x 2uS)
echo o thi gian
chuyn i sang cm(chia 74 cho inch

+Tnh ton khong cch :


Gin nh thi SRF05 th hin hai ch trn; Ch cn cung cp mt on xung
ngn 10uS kch hot u vo bt u o khong cch. Cc SRF05 s cho ra mt chu
k 8 burst ca siu m 40khz v tng cao dng phn hi ca n (hoc kch hot ch
dng 2). Sau ch phn hi, v ngay sau khi pht hin n gim cc dng phn hi li.
Dng phn hi l mt xung c chiu rng t l vi khong cch n i tng. Bng
cch o xung, ta hon ton c th tnh ton khong cch theo inch / centimt hoc n
v o khc. Nu khng pht hin g th SRF05 gim thp hn dng phn hi ca n sau
khong 30mS.
SRF05 c th c kch hot nhanh chng vi mi 50mS, hoc 20 ln mi giy. Nn
ch 50ms trc khi kch hot k tip, ngay c khi SRF05 pht hin mt i tng gn v
xung phn hi ngn hn. iu ny l m bo cc siu m "beep" phai m v s
khng gy ra sai phn hi ln o k tip.
+Cc thit lp khc ca chn 5
Chn 5 c ng nhn l "programming pins" c s dng mt ln duy nht trong qu
trnh sn xut lp trnh cho b nh Flash trn chip PIC16F630. Cc chng trnh ca
PIC16F630 pins cng c s dng cho cc chc nng khc trn SRF05, nn chc chn

Sinh vin : Ng Minh Hong MSSV : 08115001

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rng khng kt ni bt c ci g vi cc chn ny, nu khng s lm gin on hot ng


m-un.
+Thay i chm tia v rng chm
Chm tia ca SRF05 c dng hnh nn vi rng ca chm l mt hm ca din tch
mt ca cc cm bin v l c nh. Chm tia ca cm bin c s dng trn SRF05
c biu din bn di:

1.3.Hot ng pht v nhn phn hi sng m c bn ca SRF05 :

+ Nguyn tc c bn ca sonar: l to ra mt xung m thanh in t v sau


lng nghe ting vng to ra khi cc ln sng m thanh s truy cp mt i tng v
c phn x tr li. tnh thi gian cho phn hi tr v, mt c tnh chnh xc
c th c lm bng khong cch ti i tng. Xung m thanh to ra bi SRF05
l siu m, ngha l n l trn phm vi nhn xt ca con ngi. Trong khi tn s
thp hn c th c s dng trong cc loi ng dng, tn s cao hn thc hin tt
hn cho phm vi ngn, nhu cu chnh xc cao.

Sinh vin : Ng Minh Hong MSSV : 08115001

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Tm hiu cm bin siu m SRF05

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+ Mt s c im khc ca cm bin siu m SRF05


Mc ca sng m hi tip ph thuc vo cu to ca i tng v gc phn x ca n.

+ Vng pht hin ca SRF05

- Nu ngng pht hin i tng c t qu gn vi cm bin, cc i tng


trn mt ng c th b va chm ti mt im m. Nu ngng ny c t mt
khong cch qu ln t cc cm bin th cc i tng s c pht hin m khng phi
l trn mt ng va chm.

- Mt k thut ph bin lm gim cc im m v t c pht hin chiu rng


ln hn c ly gn l thm mt ci tin bng cch thm mt n v SRF05 b sung v

Sinh vin : Ng Minh Hong MSSV : 08115001

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gn kt ca hai n v hng v pha trc. Thit lp nh vy th c mt khu vc m hai


khu vc pht hin chng cho ln nhau.

2. Vi iu khin 8051:
Mt s c tnh c bn :
- B nh chng trnh bn trong: 4 KB (ROM)
- B nh d liu bn trong: 128 byte (RAM)
- B nh chng trnh bn ngoi: 64 KB (ROM)
- B nh d liu bn ngoi: 64 KB (RAM)
- 4 port xut nhp (I/O port) 8 bit
- 2 b nh thi 16 bit
- Mch giao tip ni tip
- B x l bit (thao tc trn cc bit ring l)
- 210 v tr nh c nh a ch, mi v tr 1 bit- Nhn / Chia trong 4 us

Sinh vin : Ng Minh Hong MSSV : 08115001

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Tm hiu cm bin siu m SRF05

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-S chn 8051

3.Giao tip gia 8051 vi cm bin SRF05


-Cc cm bin siu m SRF05 cn mt mch n gin: ngun 5V, mt u vo tn
hiu kch hot v u ra phn hi. B cm bin c kt ni vi mt PIC18F4420 cho
u vo, u ra v tnh ton khong cch.
Danh sch phn cng kt ni:
+ Phm vi tm kim bng siu m SRF05
+ PIC18F4420 Vi x l
+ Winford R-11 tiu
+ Vi mch MPLAB ICD 2
+ Vi mch MPLAB IDE
+ Ardin 39,3216 MHz ng h Crystal
+ Ngun in 5V
-Cc u vo kch hot c kt ni vi Pin20 ca b vi x l v u ra phn hi
c kt ni vi Pin21.
Mt xung chiu rng 10 micro giy c gi ti cc u vo v sau kch hot u vo
c bt off.
Sau , dng phn hi kt qu c bt, khi nhn c tn hiu phn hi. Thi gian
phn hi l 1 tn hiu xc nh thi gian thc hin cho xung tr v sau khi ny ra khi
i tng. u ra phn hi c gi n mt chuyn i Analog v s trong b m

Sinh vin : Ng Minh Hong MSSV : 08115001

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HEX. Ng ra sau c chuyn thnh khong cch khi bit vn tc v thi gian ca tn
hiu . Thi im ca mch c iu khin bi mt ng h c thit lp n 400
MHz. Winford R-11 l tiu trn c s dng cho chng trnh vi x l.
+S dy ni cm bin siu m SRF05 vi b vi iu khin v ng h

Sinh vin : Ng Minh Hong MSSV : 08115001

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+Nguyn l hot ng : B vi iu khin nhn cc tn hiu t mi trng bn ngoi


thng qua b bin i ADC, c s dng thu d liu. Cc my tnh s ch s dng
gi tr thp phn, nhng trong thc t l cc i lng vt l nh : vn tc, nhit , p
sut..; Do , cn c b bin i chuyn cc i lng vt l thnh cc tn hiu in
hoc in p, cc b iu khin c th c coi nh l cc cm bin. Cc cm bin c th
cho ra tn hiu dng dng in hoc in p dng lin tc.
Cc i lng vt l
(nhit , p sut, lu tc v.v)

B bin i

Phi hp tn hiu

ADC

B vi iu khin

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4. Mt ng dng ca SRF05 v b vi iu khin : Vi mch Schematic (gin )

+Ch 1 hot ng : Trong s sau y, hai k thut s I / O pins ca mt


BrainStem GP 2,0 c cu hnh x l cc ECHO v dng Init ca SRF05 module
khc nhau. Pin ECHO l dy dn n cng s pin GP 1. y l dng m s nhn c gi
tr c o bng SRF05. Cc pin ECHO phi c kh nng s dng cc u vo Ptimer
chp o chiu rng ca xung c to ra bi cc SRF05. Cc pin init l dy vo cc
chn k thut s GP 0, pin ny s gi mt xung 10 USEC bt u v m, mch c
h tr bi mt 6C Battery Pack.

Sinh vin : Ng Minh Hong MSSV : 08115001

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+Ch 2 hot ng : Trong s sau y, mt pin duy nht cng s c s dng


cho init v c ng ECHO ca SRF05 .i vi s ny, init / line ECHO l dy vo
chn s 1 GP. Pin ny c kh nng o chuyn ng ca h thng.

Sinh vin : Ng Minh Hong MSSV : 08115001

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PHN KT LUN : NHNG VN C KT C


+ Cm bin siu m SRF05 l loi cm bin c cu thnh t hai b phn : b phn pht
sng m v b phn thu sng m. ng dng ca SRF05 c s dng rng ri, dng
nhn bit cc vt trong khong cch t 3cm n 4m v o khong cch ca vt. c tnh
vt tri ca SRF05 l ch 2.
+ Cm bin siu m SRF05 c kh nng kt ni vi vi iu khin 8051 to thnh vi mch
iu khin, ng dng ca kh ny c s dng trong mt robt d ng trnh chng
ngi vt v o khong cch.
+ Trong cng nghip cc cm bin siu m cng c th gp phi nhiu sai xt do mi
trng ngoi tc ng ln cm bin, do vy cn c nhng b phn x l tn hiu t cm
bin.
+ Ngy nay, ngi ta vn tip tc nghin cu v pht trin vic ch to cc robot c gn
cm bin siu m ng thi vi cc cm bin khc nh laser, camera kt hp vi cc
cng ngh ca vin thng nh GPS, GSM nhm nng cao chnh xc trong vic nh v
cng nh thm d mt khong khng gian no xy dng bn .

Ti liu tham kho


+Sonar faq, srf05tech, Application_Note_Ultrasonic
+HANS P. MORAVEC, Sensor Fusion in Certain
Grid for Mobiles Robots
+Cc trang web tham kho: ant7.com, acroname.com, hobbyengineering.com,
cpu.word.com, metechvn.com, robotics.com.

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NHN XT CA GING VIN HUNG DN

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