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Li cm n
2 nm - mt khong thi gian khng qu ngn, cng khng qu di i vi chng
ng ca mi sinh vin chng em. i vi em n thc s l mt k nim qu bu
khng bao gi qun. Qua qu trnh hc tp v rn luyn di mi trng i hc Tr
Vinh, thy c tn tnh ging dy, s gip ca bn b, s ng vin nui dng
ca cha m. Thc s l ng lc, hnh trang mi a em vo i.
Vi hnh trang ny em chn thnh bit n qu thy c trng i hc Tr Vinh
ht lng truyn t kin thc v kinh nghim cho em trong sut thi gian hc ti
trng, mang li cho em mt nn tng kin thc em c th cng tc sau ny.
Em xin chn thnh cm n n Th.S V Th ng. Thy tn tnh gip v trc
tip hng dn em trong sut thi gian hon thnh chuyn n 2.
Em xin chc qu thy c trng i hc Tr Vinh ni chung, thy c khoa Qun tr
kinh doanh ni ring di do sc khe, tip bc cho nhng th h ngi Vit Nam
sau ny.
Cm n ba m, bn b gip ng vin em trong sut thi gian qua.
Trn trng knh cho !
Bnh Dng,ngy 15 thng 05 nm 2012.
SVTH. ng Quc Tun

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NHN XT CA GIO VIN HNG DN

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Bnh Dng, ngy thng

SV: ng Quc Tun MSSV: 120710029

nm 2012

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GVHD: Th.S V Th ng

MC LC
Trang
PHN I: M U
Chng I: Tng quan
1.t vn ........................................................................................... 03
2.Tnh hnh nghin cu .......................................................................... 03
3.Tm quan trng ca vic nghin cu .................................................. 04
PHN II: NI DUNG
Chng II: C s l thuyt: gii thiu s lc v sng siu m
1.Sng siu m l g ............................................................................... 05
1.1Mt s loi cm bin siu m ........................................................... 05
1.2 Cm bin siu m v nguyn tc TOF ............................................. 05
1.3 Tm qut ca cm bin siu m ....................................................... 06
1.4 u im v nhc im ca cm bin siu m ............................... 06
2. Thng s mt s loi cm bin siu m SRF..................................... 06
3. Cc dng pic v cch la chn vi iu khin pic 16F877A ..................
Chng III: Thit k phn cng: cm bin siu m HC-SR04 v vi iu khin
16F877A
1.Cm bin siu m HC-SR04 v c im k thut ............................ 09
1.1 Gii thiu ........................................................................................ 09
1.2 Thng s k thut ............................................................................ 09
1.3 Tnh ton khong cch .........................................................................
1.4 Hot ng pht v nhn phn hi sng m ca HC-SR04 ..................
2. S lc v cc chn ca Pic 16F877A .............................................. 11
3. Giao tip gia cm bin siu m HC-SR04 v vi iu khin
16F877A ................................................................................................ 13
4. ng dng ca cm bin siu m HC-SR04 ....................................... 19
PHN III: Kt lun .............................................................................................. 21

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PHN I: M U
Chng I : TNG QUAN
1. t vn
Ngy nay vi s pht trin vt bc ca x hi, c bit l trong cc ngnh k
thut. Khi m cc sn phm mi lin tc ra i, nhng vt liu ni tri hn, cng
ngh mi cng ra i Song song th nhu cu ca con ngi i vi s tin b
ca x hi cng ngy cng khc khe hn. c bit khi ngnh cng ngh s, tr tu
nhn to ra i n cng len li mi lnh vc ca x hi. ng dng ca vi iu khin
vo cc ngnh cng ngh ny l rt ln.
Tuy nhin o c nhng gi tr ca cc linh kin hay thit b ta phi s
dng mt thit b chuyn dng l o khong cch bng sng siu m.
Trong ti ny ta ch tm hiu v nghin cu v sng siu m bng cch dng Vi
iu khin.
Trong qu trnh lm d rt c gng nhng vn khng trnh nhng sai v
thiust
Rt mong nhn c nhng ng gp chn thnh ca qu thy c v cc bn c
th thc hin tt hn cho cc ln tip theo.
2. Tnh hnh nghin cu:
Da trn phng php nghin cu v phn tch c tnh chc nng ca cc linh
kin in t c bn ( transistor, in tr, t in,....) cc IC s (m, gii m,...) v p
dng kin thc hc, nhng ti liu c c trn tp ch, sch, v internet.....v vi
s hng n nhit tnh ca gio vin hng dn xy dng ln mt mch c chc
nng o khong cch, hot ng tt v ng vi yu cu ti.
3. Tm quan trng ca vic nghin cu
Mch o khong cch bng song siu m thuc ti n 2, y cng l nghin
cu v gip em lm quen vi vic lm n 2, lm quen vi cch hc t nghin cu,
hc tp v lm vic chung vi nhm, gip sinh vin vn dng cc kin thc hc v
cng vi s hng dn ca gio vin thc hin tt mch
4. Lnh vc ng dng:
- R b con, camera, laser...
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CHNG II: C S L THUYT


GII THIU PHN S LC V SNG
SIU M
1/ Sng siu m l g :
V bn cht, sng siu m l sng c hc, do n tun theo mi quy lut
i vi sng c, c th to ra sng siu m bng cch tc ng mt lc c hc vo
mi trng truyn m.
Sng siu m (Ultrasound): f > 20kHz
Cc ngun sng siu m c trong t nhin: Di, mt vi loi c bin pht
sng siu m nh hng Ni chung cc sng ny nm trong vng tn s 20
100 kHz. Sng siu m ng dng trong y hc c tn s t 700 KHz n 50 MHz
trong siu m chn on s dng cc tn s t 2 MHz n 50 MHz.
1.1/ Mt s loi cm bin siu m:

Cm bin siu m c nhiu loi, ty theo cng dng 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 cng ch to cc loi cm bin siu m
khc nhau.
1.2/ Cm bin siu m v nguyn tc TOF (Time Of Flight)
Sng siu m c truyn i trong khng kh vi 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 truyn tring khng gian. Qung ng i ca sng s
bng 2 ln khong cch t cm bin ti chng ngi vt, theo hng pht sng ca
siu m. Hay khong cch t cm bin n chng vt s c tnh theo nguyn l
TOF: d=v*t/2.

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1.3/ Tm qut ca cm bin siu m.


Cm bin siu m c th c m hnh ha thnh mt cnh 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 .

1.4/ / u im v nhc im ca cm bin tim cn siu m


U IM:khong cch m cm bin c th pht hin ln ti 15m
Sng phn hi ca cm bin khng ph thuc vo mu sc ca b mt i
tng hay tnh cht phn x nh sng ca i tng
V d:b mt knh trong sut ,b mt gm mu nu,b mt plastic mu trng
hay b mt cht liu nhm sng trng l nh nhau
Tn hiu p ng ca cm bin tim cn analog l t l tuyn tnh vi khong
cch.iu ny c bit l tng cho cc ng dng nh theo di cc mc vt
cht,mc chuyn ng cu i tng

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Nhc im:cm bin siu m yu cu i tng c mt din tch b mt ti


thiu(gi tr ny ty thuc vo tng loi cm bin)
Sng phn hi cm bin nhn c c th chu nh hng ca sng m thanh
tp m
Cm bin tim cn siu m yu cu mt khong thi gian sau mi ln sng
pht i sn sng nhn sng phn hi.kt qu cm bin tim cn siu m
nhn chung chm hn cc cm bin khc
Vi cc i tng c mt vt cht thp nh bt hay vi qun o rt kh
pht hin vi khong cch ln
Cm bin tim cn siu m gii hn bi khong cch pht hin nh nht
S thay i ca mi trng nh nhit (vn tc m thanh ph thuc vo
nhit ) p sut,s chuyn ng khng u ca khng kh,bi bn bay trong
khng kh gy nh hng n kt qu o
Nhit ca b mt i tng nh hng n phm vi hot ng ca cm
bin,hi nng ta ra t i tng c nhit cao lm mo dng sng,lm
cho khong cch pht hin ca i tng ngn li v gi tr khong cch
khng chnh xc
B mt phng phn hi nng lng ca sng m thanh tt hn b mt g
gh,tuy nhin b mt trn phng li c i hi khc khe v v tr gc to
thnh gia cm bin v mt phng i tng
2/ Thng s mt s loi cm bin siu m SRF.
Cm bin

Thng tin

SRF02
SRF04
SRF05
SRF08
SRF10
SRF235

I2C/Serial
K thut s
K thut s
I2C
I2C
I2C

Range
Ti thiu
Ti a
15cm
6m
3cm
3m
3cm
4m
3cm
6m
3cm
6m
10cm
1,2m

Angle
*
450
450
450
450
600
150

Echoes
**
Mt
Mt
Mt
17
Mt
Mt

Thi gian
khc nhau
70 ms
100s 36 ms
100s 36 ms
65 ms
65 ms
10 ms

Ghi ch

Ch thch:
*: c tnh gc ca hnh nn cm bin 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.
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AB
AD

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C: Cm bin ny cng bao gm mt photocell mt trc pht hin nh


sang.
D: Hot ng mt tn s 235kHz cao hn.
3/ CC DNG PIC V CCH LA CHN VI IU KHIN PIC
Cc k hiu ca vi iu khin PIC:- P I C 1 2 x x x x : d i l n h 1 2 b i t
-PIC16xxxx: di lnh 14 bit
-PIC18xxxx: di lnh 16 bit
C: PIC c b nh EPROM (ch c 16C84 l EEPROM)
F: PIC c b nh flash
LF: PIC c b nh flash hot ng in p thp
LV: tng t nh LF, y l k hiu c
Bn cnh mt s vi iu khin c k hiu xxFxxx l EEPROM, nu c thm ch A
cui l flash (v d PIC16F877 l EEPROM, cn PIC16F877A l flash). Ngoi ra, cn c
thm mt dng vi iu khin PIC mi l dsPIC. Vit Nam ph bin nht l cc h
vi iu khin PIC do hng Microchip snxut. Cch la chn mt vi iu khin PIC ph
hp:
- Trc ht cn ch n s chn ca vi iu khin cn thit cho ng dng.
Cnhiu vi iu khin PIC vi s lng chn khc nhau, thm ch c vi
iukhin ch c 8 chn, ngoi ra cn c cc vi iu khin 28, 40, 44, chn.
- Cn chn vi iu khin PIC c b nh flash c th np xa chng trnhc
nhiu ln hn. Tip theo cn ch n cc khi chc nng c tchhp sn
trong vi iu khin, cc chun giao tip bn trong.
- Sau cng cn ch n b nh chng trnh m vi iu khin cho php.
- Ngoi ra mi thng tin v cch la chn vi iu khin PIC c th c tmthy
trong cun sch Select PIC guide do nh sn xut Microchip cung cp.

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S iu khin:

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CHNG III: THIT K PHN CNG


CM BIN SIU M HC-SR04 V VI IU
KHIN PIC 16F877A
1/ Cm bin siu m HC-SR04 v c im k thut.
1.1/Gii thiu.
- HC-SR04 l mt bin pht trin t SRF05 c thit k tng tnh linh
hot, tng phm vi, ngoi ra cn gim bt chi ph. HC-SR04 l hon ton tng
thch vi SRF05. Khong cch c tng t 3 mt n 4 mt.
- HC-SR04 cho php s dng mt chn duy nht l cho c kch hot v phn
hi, do tit kim c gi tr trn chn iu khin.
- HC -SR04 l tt chn. Hiu sut n nh v chnh xc khc nhau, cao lm
cho n mt m-un ph bin trong th trng in t.
- So vi cc m-un Shap khc nhau, IR, HC-SR04 l r tin hn. Nhng n
c chnh xc khc nhau, v khong cch xa hn phm vi.
1.2/ Thng s k thut:

Ngun cung cp: 5V DC


hot ng g hin nay: <2mA
l hiu qu gc: <15
khc nhau, khong cch 2 cm - 500 cm
phn gii: 0,3 cm

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1.3/ Tnh ton khong cch.


C 4 chn ra khi cc m-un: VCC, Trig, Echo, GND. V vy, l mt
giao din rt d dng cho b iu khin s dng n khc nhau. Qu trnh tt c
l: ko pin Trig mc cao hn 10us xung, m-un khc nhau, bt u, kt thc
khc nhau, Nu bn tm thy mt i tng pha trc, Echo pin cao cp, v da
vo khong cch khc nhau, n s thi gian khc nhau c trnh cao. V vy,
chng ta c th tnh ton khong cch mt cch d dng:
Khong cch = ((Thi gian c trnh cao) * (Sonic: 340m / s)) / 2

1.4/ Thay i chm tia v rng chm


Chm tia ca HC-SR04 c dng hnh nn v rng ca chn l mt hm ca
din tch mt ca cc cm bin v l c nh. Chm tia ca cm bin c s dng
trn HC-SR04 c biu din bn di.

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1.5/ Hot ng pht v nhn phn hi sng m ca HC-SR04.


- 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 c 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 tnh bng khong cch ti i tng. Xung m thanh to ra bi HCSR04 l siu m, ngha l trn phm vi nhn xt ca con ngi. Trong khi tn s
thp nht 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.

- Mt s c im khc ca cm bin siu m HC-SR04:


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

+ Mt i tng mm c th cho ra tn hiu phn hi yu hoc khng c phn


hi. Mt i tng mt gc cn i th mi c th chuyn thnh tn hiu phn
chiu mt chiu cho cm bin nhn.

+ Cc vng cm bin ca HC-SR04 nm trong khong 1 mt chiu rng t bn


ny sang bn kia v khng qu 5 mt chiu di.
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+ 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 HC-SR04
b sung v gn kt hai n v hng v pha trc. Thit lp nh vy th c mt khu
vc m hai khu vc chng cho ln nhau.

+ Cc vng hot ng ca 2 cm bin to gc chung 30 . Vng chung th


c phn bit bi 2 phn tn hiu tri phi v phn cn gia.
2/ S lc v cc chn ca 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 EEFROM.
- 5 ports (A, B, C, D, E) vo ra vi tn hiu iu khin c lp.
- 2 b nh thi 8 bit (Timer 0 v Timer 2).
- Mt b nh thi 16 bit (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).
- 1 b bin i AD 10 bit, 8 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 l 20 MHz.

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* S chn PIC 16F877A:

Chn OSC1/CLK1(13): ng vo kt ni vi dao ng thch anh


hoc ngvo nhn xung clock t bn ngoi
Chn OSC2/CLK2(14): ng ra dao ng thch anh hoc ng ra
cp xungclock.
Chn

(1) c 2 chc nng:

*
: ng vo reset tch cc mc thp.
* Vpp: ng vo nhn in p lp trnh khi lp
trnh cho PIC.
- Chn RA0/AN0(2), RA1/AN1(3), RA2/AN2(3): c 2 chc nng
* RA0,1,2: xut/ nhp s.
* AN 0,1,2: ng vo tng t ca knh th 0,1,2.
- Chn RA2/AN2/VREF-/CVREF+(4): xut nhp s/ ng vo tng
t caknh th 2/ nh vo in p chun thp ca b AD/ ng vo in p
chn caoca b AD.
- Chn RA3/AN3/VREF+(5): xut nhp s/ ng vo tng t knh 3/ ng
voin p chun (cao) ca b AD.
- Chn RA4/TOCK1/C1OUT(6): xut nhp s/ ng vo xung clock bn
ngoicho Timer 0/ ng ra b so snh 1.
- Chn RA5/AN4// C2OUT(7): xut nhp s/ ng vo
t n g t k n h 4 / ng vo chn la SPI ph/ ng ra b so snh 2.
- Chn RB0/INT (33): xut nhp s/ ng vo tn hiu ngt ngoi.
- Chn RB1(34), RB2(35): xut nhp s.
- Chn RB3/PGM(36): xut nhp s/ cho php lp trnh in p thp ICSP.
- Chn RB4(37), RB5(38): xut nhp s.
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Chn RB6/PGC(39): xut nhp s/ mch g ri v xung clock


lp trnhICSP.
- Chn RB7/PGD(40): xut nhp s/ mch g ri v d liu lp trnh ICSP.
- Chn RC0/T1OCO/T1CKI(15): xut nhp s/ ng vo b giao ng
Timer1/ng vo xung clock bn ngoi Timer 1.
- Chn RC1/T1OSI/CCP2(16) : xut nhp s/ ng vo b dao ng
Timer 1/ng vo Capture2, ng ra compare2, ng ra PWM2.
- Chn RC2/CCP1(17): xut nhp s/ ng vo Capture1 ,ng ra compare1,
ngra PWM1.
- Chn RC3/SCK/SCL(18): xut nhp s/ ng vo xung clock ni
tip ng b, ng ra ch SPI./ ng vo xung clock ni tip ng b,
ng ra ca ch I2C.
- Chn RC4/SDI/SDA(23): xut nhp s/ d liu vo SPI/ xut nhp
d liuI2C.
- Chn RC5/SDO(24): xut nhp s/ d liu ra SPI.
- Chn RC6/TX/CK(25): xut nhp s/ tru yn bt ng b
USART/ xungng b USART.
- Chn RC7/RX/DT(26): xut nhp s/ nhn bt ng b USART.
- Chn RD0-7/PSP0-7(19-30): xut nhp s/ d liu port song song.
- Chn RE0/ /AN5(8): xut nhp s/ iu khin port song song/ ng v
otng t 5.
- Chn RE1/ /AN6(9): xut nhp s/ iu khin ghi port song song/ n
gvo tng t knh th 6.
- Chn RE2/ /AN7(10): xut nhp s/ Chn chn la iu khin port
songsong/ ng vo tng t knh th 7.
- Chn VDD(11, 32) v VSS(12, 31): l cc chn ngun ca PIC
3/ Giao tip gia vi iu khin PIC 16F877A vi cm bin HC-SR04.
- Cc cm bin siu m HC-SR04 cn mt mch n gin: ngun 5V, mt u
vo tnh hiu kch hot v u ra phn hi. B cm bin c kt ni vi mt PIC
16F877A cho u vo, u ra tnh ton khong cch.
- Danh sch phn cng kt ni.
Siu m HC-SR04
PIC 16F877A Vi x l
Ngun in 5V
LCD
crystal

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S dy ni cm bin siu m HC-SR04, pic 16f877a v LCD

5V

Devantech
HC-SR04 Ultrasonic
Range Finder

mass
s

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- Nguyn l hot ng: B vi iu khin nhn 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
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.
-

Code:

// RC2--ECHO
// RD1 --TRIGGER
#include "F:\NCKH 2009\PIC 16\count_timer2\count_timer2.h"
#include <lcd_lib_4bit.c>
#include <F:\NCKH 2009\PIC 16\count_timer2\def_877a.h>
#define CONVERT_TO_MICROSECONDS (20000000/((4*4)*1000000))
//BOOLEAN CCP1Captured;
int8 tram,chuc,donvi,nghin;
void convert_bcd(int8 x)
{
donvi=x%10; //chia lay phan du, so hang don vi
tram=x/100; //tach hang tram va hang chuc
chuc=x/10%10;
nghin = x/1000;
tram = tram + 0x30;
chuc = chuc + 0x30;
donvi = donvi + 0x30;
nghin = nghin +0x30;
}
/////////
#int_ccp1
void main()
{
int8 x,s;
int16 t;
LCD_init();
convert_bcd(x);
trisd = 0x02;
trisc = 0x04;
//---hien thi LCD--LCD_putchar("anh_gioi");
LCD_putcmd(0xC0);
LCD_putchar("S = ");
LCD_putcmd(0xC9);

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LCD_putchar(" Cm");
//-- khai bao timer-capture ---setup_timer_1(T1_INTERNAL | T1_DIV_BY_4);
setup_ccp1(CCP_CAPTURE_RE);
enable_interrupts(INT_CCP1); // Setup interrupt on falling edge
enable_interrupts(GLOBAL);
while(true)
{
//---- 10uS cho trgger ---output_high(pin_d1);
delay_us(10);
output_low(pin_d1);
//-- Wait for senser output to go high ---if(input(pin_c2)==0)
{
t = 0;
set_timer1(0);
LCD_putcmd(0xCE);
LCD_putchar("NO");
}

else
{
t = CCP_1; //doc thoi gian khi co xung cao
s = t/58;
convert_bcd(s);
//time = get_timer1();
LCD_putcmd(0xCE);
LCD_putchar("CO");
//time = time/CONVERT_TO_MICROSECONDS; //chuyen doi ra mcrogiay
}
///// hien thi len gia tri LCD//////
LCD_putcmd(0xC4);
LCD_putchar(nghin);
LCD_putcmd(0xC5);
LCD_putchar(tram);
LCD_putcmd(0x6);
LCD_putchar(chuc);
LCD_putcmd(0xC7);
LCD_putchar(donvi);
}
}

- Chng trnh ny khng th hin trn protues v khng c sng siu m HC-SR04

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4/ Mt s ng dng ca HC-SR04:

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PHN III: KT LUN: NHNG VN


C KT C.
1. Kt qu t c.
- H thng iu khin tng i n nh, p ng c yu cu ca ti.
- Gim st c qu trnh o khong cch qua khi hin th LCD.
- Cm bin c thng s khong cch tng i chnh xc.
- Phn mm chng trnh tng i d hiu, n gin.
2. khuyt im v hng khc phc:
- c thng s khong cch cha tuyt i chnh xc.
- Trong cng nghip cc cm bin siu m cng c th gp phi sai xt do
mi trng ngoi tc ng ln cm bin, do vy cn c nhng b x l tn
hiu t cm bin.
- a ra cc gii thut khc lp trnh h thng ti u hn.
- Vi mch ta c th thit k mt thit b lm mt mch (tn nhit).
- C th giao tip vi my tnh o khong cch.
3. Hng pht trin ca ti:
- Cm bin siu m HC-SR04 l loi c cu thnh t hai b phn: b
phn pht sng m v b phn thu sng m. ng dng ca HC-SR04 c
s dng rng ri, dng nhn bit cc vt trong khong cch t 2cm n
5m v o khong cch ca vt.
- Cm bin siu m HC-SR04 c kh nng kt ni vi cc vi iu khin to
thnh vi mch iu khin, ng dng ca kh nng ny c s dng trong
mt rbt do ng trnh chng ngi vt v o khong cch.
- Ngy nay, ngi ta vn tip tc nghin cu v pht trin vic ch to cc
rbt 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 .
4. Kt lun:
- y cng khng phi l mt ti mi nhng thng qua vic tm hiu v
thc hnh v ti ny em c c hi vn dng nhng kin thc hc vo
thc t, t rt ra c nhiu kinh nghim trong thc t.
- Qua ti ny em c thm mt phn kin thc b ch vo trong
chuyn ngnh hc tp ca mnh, hiu bit nhiu hn v mn hc vi iu
khin, t l thuyt v thc hnh kt hp vi nhau hon thnh tt mt
ti. Tuy nhin, em cng gp nhiu khng t kh khn nh: v ti liu, dung
c thc hnh, kinh nghim thc hnh, kinh t v vy ti cng cha t
c kt qu cao nh mun.

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Ti liu tham kho


http://tailieu.vn/xem-tai-lieu/de-tai-tim-hieu-cam-ung-sieu-am-srf05.762103.html
http://machdientu.net/dien-tu-co-ban/srf05-cam-bien-sieu-am.htm
http://letsmakerobots.com/node/11232
http://robotics.hobbizine.com/knexapod.html

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