LI NI U

Ngy nay khoa hc k thut ngy cng pht trin, vi thnh qu l hng
lot cc pht minh, cc vt liu mi ra i, mt trong s cc thnh tu ni
bt phi ni n l vic pht hin v ng dng sng siu m vo i sng,
c bit l trong lnh vc y khoa v thm m vi i din l cc thit b siu
m, cc my ty ra, ngoi ra siu m cn th hin s u vit ca mnh
trong lnh vc o lng, kim nh cht lng sn phm, an ninh vi cc
thit b o khong cch, vn tc, cc thit b cnh bo, d khuyt tt tm
hiu thm v mt lnh vc mi v a nng ny em la chn ti My
o khong cch ng dng sng siu m lm ti n tt nghip ca
mnh.
Nhng kin thc v nng lc t c trong sut qu trnh hc tp ti
trng s c nh gi trong n tt nghip ny. V vy em s c gng
tn dng tt c nhng kin thc hc cng vi kinh nghim tm ti nghin
cu qua cc n mn hc c th hon thnh tt n ny.
Mc d chng em rt c gng hon thnh tp n ny ng thi
hn, nhng khng trnh khi nhng thiu st mong qu thy c thng cm.
Em mong c n nhn nhng kin ng gp. Cui cng em xin cm n
qu thy c v cc bn sinh vin.
Sinh vin thc hin ;
Trn Hu Chung
Nhn xt ca gio vin hng dn
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Nam nh, Ngy......thng.....nm 2011
Nhn xt ca gio vin phn bin
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Nam nh, Ngy......thng.....nm 2011

B Gio Dc V o To Cng Ha X Hi Ch Ngha Vit Nam
Trng H s phm k thut nam nh c lp-T do- Hnh phc

.*o0o*.

H v tn : Trn Hu Chung MSSV : 08GC720011

Lp : CK T 11

Ngnh : K Thut in in T
Kha : 2008 - 2011

Tn Ti : Nghin cu ,thit k b o khong cch bng sng siu m
ng dng vi iu khin
1.Cc s liu ban u :
.
2.Ni dung cc phn thi cng v tnh ton :
.
3.Cc bn v : - Cc bn v cn thit thuyt trnh .
GVHD : Th.s Trn Hiu
Nam nh
Ngy ..thng..nm .2011
Phn I : M u
1.1 t vn
Cng vi s pht trin ca khoa hc k thut ngy cng tin b.
Ngnh in t ng gp rt nhiu ng dng rng ri trong i sng, nh
du bc nhy vt v khoa hc k thut trong th gii hin i. Nhng tin
b ny to nn nhng sn phm mang y tr tu sng to ca con ngi.
Trong s pht trin khoa hc , ngnh siu m cng ra i ng gp
mt phn quan trng trong s pht trin ny.
S kt hp gia lnh vc in t v k thut siu m cho ra nhng sn
phm k thut ng dng rt phong ph trong cng nghip, nng nghip,
qun s, y hc
V vy nghin cu v lnh vc siu m iu quan trng lm nn
tng cho cc k thut tin b s dng lnh vc siu m v lm ti liu tham
kho cho nhng bn sinh vin sau ny sng to ra nhng ng dng k
thut mi v tin b hn.
1.2 Gii hn ti
C rt nhiu nhng ng dng ca k thut siu m trong nhiu lnh
vc ca i sng. Nhng do kin thc v thi gian c hn nn ngi lm
ti khng th tm hiu su hn v k thut siu m. Ngi lm ti c th
tm hiu nhng vn c bn ca k thut siu m nh sau:
+ S lc v sng siu m.
+ Cc ng dng c bn ca sng siu m.
+ Kho st mch o khong cch bng sng siu m.
1.3 Mc ch nghin cu
tm hiu su hn v k thut siu m, ta phi tin hnh kho st mch
ng dng c th vo thc t. Khi lm thc t s tip xc c nhiu kinh
nghim trong qu trnh kho st, m rng kin thc v ng dng siu m v
cng c c cc kin thc c bn ca k thut in t.
1.4 i tng nghin cu
Do thi gian c hn nn ngi nghin cu khng th gii thiu c ht cc
ng dng ca siu m. Trong thi gian ngn ch c th tham kho nhng
iu c bn ca k thut siu m. V vy, i tng nghin cu ch yu
l nhng vn ca k thut siu m m c th l kho st mch o khong
cch dng sng siu m.
1.5 Gi thit nghin cu
Vic o khong cch bng sng siu m ny cha c kh thi lm. V vn
tc truyn ca sng siu m trong mi cht liu l khc nhau.
1.6 Phng php v phng tin nghin cu
Phng php tham kho ti liu:
Tham kho v chn lc cc ti liu rt ra cc kin thc c lin quan
tng hp a vo n.
Phng tin: tp ch in t; cc sch k thut chuyn mn
Phng php thc nghim:
Thc hin thi cng trc tip mch in t c th rt ra cc kinh
nghim thc t v cc quy trnh thc hin c kt qu chnh xc a vo
ti.
Phng tin: cc dng c lin quan phc v cho qu trnh thi cng.
Phn II : Ni dung ti .
Chng 1 : Nghin cu h thng o khong cch .
1.1 Tng quan v sng siu m
1.1.1 Khi nim
- Cc mi trng cht n hi (kh, lng hay rn) c th coi nh l nhng
mi trng lin tc gm nhng phn t lin kt cht ch vi nhau. Lc bnh
thng, mi phn t c mt v tr cn bng bn. Nu tc ng mt lc ln
mt phn t A no bn trong mi trng ny, n s ri khi v tr cn
bng bn. Do tng tc to nn bi cc mi lin kt vi cc phn t bn
cnh, mt mt phn t A b ko v v tr cn bng, mt mt n cng chu tc
dng bi lc tc ng nn phn t A s di chuyn qua li quanh v tr cn
bng, c ngha l phn t A thc hin chuyn ng di dng dao ng.
Hin tng ny tip tc xy ra i vi cc phn t khc ca mi trng.
Dng dao ng c, c tnh cht lp i lp li, lan truyn trong mi trng
n hi c gi l sng n hi hay sng c, ni mt cch khc, sng l
mt hin tng vt l trong nng lng c dn truyn di dng dao
ng ca cc phn t vt cht ca mi trng truyn sng.
- V bn cht, sng m l sng c hc, do n tun theo mi quy lut i
vi sng c, c th to ra sng m bng cch tc ng mt lc c hc vo
mi trng truyn m.
+ V d 1: Tc ng mt lc lm rung ln m thoa, gy ra cho cc phn t
trong khng kh b nn li hay dn ra ty theo hng chuyn ng ca m
thoa, phn t u tin b tc ng s nh hng n phn t k tip . . . v c
th m c s lan truyn sng ra mi hng (v cng nh th m tai ngi
bt k v tr no xung quanh m thoa u nghe c m vang ca m thoa).
Hin tng ny tng t nh khi ta th mt vin si vo gia lng h ang
lng sng, vin si s to ra nhng gn sng c hnh dng cc vng trn
ng tm lan ta ra xung quanh m tm ca chng l v tr m vin si ri
xung h nc.
+ V d 2: nh vo mt trng; tc ng dng in lm rung mng loa; n
bay trong khng kh.
Cc i lng c trng ca sng :
- Hnh bn di l hnh biu din ca sng, n l mt tp hp ca cc ln
nn v dn thay i tun t theo dng hnh sin, trong cc nh sng th
hin p lc cao nht cn cc y sng th hin p lc thp nht.
Hnh 1.1 : Dao ng ca sng siu m
Cc i lng c trng ca sng bao gm:
o Chu k T = (s) l khong thi gian m sng thc hin mt ln nn v
mt ln dn.
o Tn s f = (Hz) l s chu k thc hin c trong 1 giy.
o Vn tc truyn ca sng m l qung ng m sng m truyn c
sau mt n v thi gian
o di bc sng = (m): l qung ng m sng truyn c sau
khong thi gian bng 1 chu k ( = v.T = v/f). Trn hnh v, ta thy bc
sng l khong cch gia hai nh hoc hai y nm k nhau.
1.1.2 Phn loi
1.1.2.1 Phn loi theo phng dao ng
Da vo cch truyn sng, ngi ta chia sng c ra lm hai loi: sng
dc v sng ngang.
o Sng ngang l sng m phng dao ng ca cc phn t ca mi
trng vung gc vi tia sng. Sng ngang xut hin trong cc mi trng
c tnh n hi v hnh dng. Tnh cht ny ch c vt rn.
o Sng dc l sng m phng dao ng ca cc phn t mi trng
trng vi tia sng. Sng dc xut hin trong c mi trng chu bin dng
v th tch, do n truyn c trong cc vt rn cng nh trong mi
trng lng v kh.
1.1.2.2 Phn loi theo tn s
- Sng m c chia theo di tn s thnh 3 vng chnh.
o Sng m tn s cc thp, hay cn gi l sng h m (Infrasound): f <
16 Hz. V d: sng a chn.
o Sng m tn s nghe thy c (Audible sound): f= 16 Hz 20 kHz
o 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.
1.1.3 Lch s pht trin ca sng siu m
- c bit n l cha ca siu m, Sergei Y. Sokolov, nh khoa hc ni
ting ca Lin X ti VI Ulyanov (Lenin) Vin K thut in, Leningrad
sinh nm 1897 ti thnh ph cng tn ca nc Nga. ng a ra tng
vo nm 1928, v mt vi nm sau chng minh k thut truyn qua
pht hin khuyt tt trong kim loi. ng ci tin tng ca mnh trong cui
nhng nm 1920, thi im nhng cng ngh cn thit nh vy khng tn
ti. ng xut rng k thut ny c th c s dng pht hin tnh
khng ng nht trong cht rn nh kim loi.
- Cng vi nhng khm ph ban u v siu m, cc cng trnh nghin cu
su rng nhm pht hin khuyt tt trong cc kim loi c tin hnh ti
c vo u nhng nm 1930. Nm 1933, O Muhlhauser c cp bng
sng ch cho h thng truyn nng lng siu m vo chi tit kim tra, pht
hin khuyt tt khng ng nht bng s dng b bin i siu m-in th
cp. Nm 1935 Sokolov cng b chi tit cc thit k th nghim my pht
thch anh, phng php cp ghp ni my pht in vi cc b phn kim
tra nhm t c nng lng truyn n ti a, v nhiu phng php pht
hin nng lng siu m sau khi truyn qua cc tit kim tra. ng xut
khi nim my chp nh siu m u tin cha hnh nh thc thu nhn ca
mt khuyt tt. ng cho bit rng bng cch s dng sng m vi tn s
3000 MHz, phn gii thu c c th bng phn gii ca cc knh hin
vi quang hc. Phng php ca ng s dng mt b chuyn i nhn tn
hiu p in ln khi in tch to ra bi cc tn hiu m thanh n trng
thi c lp. B mt ca b chuyn i sau c qut bi tip xc c hc
hoc khong cch, xy dng hnh nh ca khuyt tt ny. phn gii
ca cc thit b th nghim m ng ch to c tuy nhin khng tt
c s dng mc thc t.
Ti c, nm 1936, Raimar Pohlman pht trin mt phng php to nh
siu m da trn s truyn qua s dng ng truyn sng m v chuyn i
hnh nh kt qu sng thanh thnh hnh nh quan st c trong cng mt
th tch d. Ti c, thit b chuyn i hnh nh ca ng c bit n nh
l t bo Pohlman. c s dng rng ri vo gn cui giai on chin
tranh th gii II ti c khi th nghim vt liu siu m tr nn cn thit
trong vic la chn n dc bo v pho phng khng ca Berlin.
Pohlman thc hin thc nghim theo cc tuyn tng t vi s truyn
siu m qua kim loi c khuyt tt, nhng s dng mt cch tip cn
hon ton khc vi phng php pht hin chm tia nhn c. My d ca
ng nh ch s dng mt ming nhm dng bng tuyt trong xylen kn
ng trong mt v trong sut. Chm siu m nhn c t mu th nghim
tc ng ln ming nhm hnh bng tuyt khin chng t sp xp bnh
thng theo hng chm siu m.Trong trng hp c khuyt tt xut hin
trong vt liu khi th nghim, cc vng ti s c thay th ti v tr cc
bng tuyt duy tr nh hng ban u ca chng.
Nhng ngi c ng gp quan trng, Floyd Firestone, Donald
Sproule v Adolf Trost khng h bit n nhau nh th h lm vic trong b
mt vy. K c cc ng dng bng sng ch ca h c cng b.
Sproule v Trost s dng cng ngh truyn qua vi cc u d truyn v
nhn siu m hon ton ring bit. Trost pht minh ra ci gi l Trost-
Tonge. Hai u d c ni theo hng i din vi tm, t trn cng
mt trc bng mt thit b c kh - the tonge - v to cp kt hp vi c hai
mt bng dng nc chy lin tc. Sproule t 2 u d trn cng mt pha
ca vt. V vy, ng pht minh ra my d tinh th kp. ng s dng s
kt hp ny cng vi cc khong cch khc nhau t chng. Firestone l
ngi u tin nhn ra k thut phn x. ng sa i mt thit b radar v
pht trin mt my pht c cc xung ngn v b khuch i vi vng ngng
ngn (dead zone). Sproule cui cng t b phng php truyn qua v
np mt bng sng ch vo nm 1952 mang tn nhng ci tin trong/hoc
lin quan n thit b pht hin khuyt tt v o vn tc bng phng php
siu m vng.
1.2 H thng o khong cch
1.2.1 Cc phng php o khong cch truyn thng
1.2.1.:Phng php o bng thc
- Trong trng hp khng cn chnh xc cao ngi ta c th o bng
cch m bc. Mi bc chn ca ngi bnh thng cch nhau 0,7m.
Cch o ny c chnh xc rt thp. Do trong mi trng hp u cn
c thc g hay thc thp (dy) o.
- Thc thp (dy) thng thng di 25m dng km vi mt b 11 que st.
Khi o cn c hai ngi thao tc. Ngi i sau cm u thc c vch 0m,
dng que st gi cht u thc sao cho vch 0m ca thc trng vi im
u cn o. Ngi i trc cm 10 que st v cm que st ti vch 25m u
chnh sao cho hng ca thc trng vi hng o. Hai ngi i ti v o
tip tc, ngi i sau thu cc que st m ngi i trc cm. Khi thu
10 que ngi i sau s giao cho ngi i trc.
Nu gi:
- N: S ln ngi i sau trao b 10 que st cho ngi i trc.
- n : S que st trong tay ngi i sau
- r : Khong l cn li c trn thc.
- 25 : l chiu di ca thc. nu thc di 30m th s ny c thay
bng 30.
- S: Khong cch c o.
Ta c cng thc tnh khong cch bng:
Hnh 1.2:o khong cch bng thc o
- Khi o nu gp a hnh dc t th c th nng thc ln nm ngang
v dng ng thng bng kim tra thng bng. khi u thc nng cao
c treo mt dy di nh tm u thc mt t.

- Nu a hnh dc u ta c th o trc tip mt t nghing v dng
cng thc:

Trong : l di o nghing; d khong cch AB; a gc nghing
ca mt t.
Hnh 1.3
:o bng
lng gic
1.2.1.2 Phng
php xc nh
khong cch bng lng gic
- Phng php ny s dng mt ngun pht sng pht ra mt chm tia hp
ti p vo b mt vt th. Do phn x, tia sng chuyn hng ti b thu
c t cch b pht mt khong B, gc pht tia sng so vi phng ngang
l
( hnh 1.4).
Hnh 1.4: Sensor o khong cch s dng phng php lng gic.
Nu D l khong cch t i tng ti detector th khong cch ny
c tnh nh sau:
D = B. tg
1.2.1.3 Phng php xc nh khong cch bng o khong thi gian truyn
sng
- Trong phng php ny s dng ngun pht lazer xung pht ra xung
sng, sau thu li nh sng phn x ca n vi iu kin chm sng i v
chm sng v phi ng trc. Khi khong cch t sensor ti i tng s
c tnh nh sau:
D = C . T/2
Trong : D l khong cch t sensor ti i tng .
C l vn tc truyn nh sng
T l thi gian k t khi pht xung sng cho ti khi nhn
c xung sng.
- Vi cng thc ny, o khong cch D s gp phi kh khn l
khong thi gian T thng rt nh c picrogiy. Thc t, ngi ta thng s
dng o thi gian tr gia sng pht ra v sng phn x. Trong cch ny,
mt ngun laser s pht lin tc, b o s thc hin o pha gia hai sng ti
v sng phn x. S thc hin c th c ch ra trn hnh 1.2.1.3
- Trong s , chm laser pht c ti mt gng bn m, gng ny s
chia chm laser thnh hai chm sng nh nhau. Mt truyn ti i tng,
mt truyn ti b o pha. Chm laser truyn ti i tng s phn x v i
ti b o pha. B o pha y ng vai tr l mt detector. Gi L l khong
cch t tia chun ti Detector, D l khong cch t i tng ti gng bn
m. Khi tng qung ng i ca laser ti vt th v quay tr v
Detector l : D = 2D + L
Hnh 1.5: o khong cch bng pha
- Nu i tng gn (D = 0) khi pha ca hai tia sng nh nhau. Khi D
tng th lch pha tng dn dch pha gia hai tia trong trng hp ny
s l:
D= L + . /3600
do D = . / (2. 3600 ).
- Cng cn lu : khi = 3600 b o pha s khng phn bit c
D = L + n (vi n l s nguyn ) hay D = L. Nh vy cch ny ch o vi
cc gi tr lch pha < 3600 hay vi khong cch 2D < .
Bn cnh vic s dng o khong cch bng ngun pht lazer, trn thc t
ngi ta cn s dng ngun thu pht siu m. Chm xung siu m pht ra
p ti b mt phn x ca i tng, xung phn x c thu u thu siu
m c thi gian ko di xung t l vi khong cch t sensor ti vt. Nu o
c khong thi gian ko di xung phn x ta hon ton c th o c
khong cch ti vt.
1.2.2 Phng php o khong cch ng dng
+ ) o khong cch bng cm bin siu m :
- Loi sensor ny pht ra xung siu m. Nu tn ti vt th trong vng lm
vic ca sensor s xut hin sng phn x v u thu. Cu trc mt sensor
siu m thng gm nhng phn : Phn t c bn ca sensor ny l b bin
m thng l gm p in c bo v bng mt cht nha tng hp nhm
chng li s m t, bi bn v cc nhn t khc ca mi rng. B thu m
thanh s hng m a ti b bin i m thanh thnh tn hiu in. Tt c
cc thnh phn ny c trong mt v. -- Mt dng sng in hnh m
t hot ng ca sensor siu m. Dng sng A l tn hiu iu khin tn hiu
truyn. Dng sng B l tn hiu li ra khi c c tn hiu ting vng (echo)
trong B1 l tn hiu pht ra cn B2 l tn hiu phn x li. Cc xung C
tch bit tn hiu truyn v tn hiu nhn. phn bit s khc nhau gia
cc xung tng ng vi tn hiu mang v tn hiu phn x li ta xem xt tn
hiu D. Trong t1 l khong thi gian pht hin nh nht v t1 + t2
l khong thi gian pht hin ln nht. Cc khong thi gian ny tng ng
vi khong thi gian truyn sng trong mi trng khi nhn c tn hiu
phn x li (lc tn hiu D c gi tr ln nht) s hnh hnh tn hiu E, n
s bng 0 khi kt thc xung tn hiu A. Cui cng tn hiu F c hnh thnh
khi xut hin xung tn hiu E v s l tn hiu ra ca sensor siu m hot
ng theo ch nh phn .
1.2.3 ng dng ca sng siu m

ROBOT M SN PHM

TY RA PHT HIN T NHP
Hnh 1.6: Mt s ng dng sng siu m
1.3 S khi
1.3.1 S khi o khong cch
Hnh 1.7 : S khi my o khong cch
1.3.2 Chc nng tng khi
Khi ngun bao gm ngun n +5V ngun nui ca vi iu khin,
12V cp ngun nui cho mch to xung pht, cp cho mch x l tn hiu
thu.
Khi hin th ly d liu t khi x l trung tm v hin th chng trn
mn hnh LED.
Khi to xung pht to ra xung pht 40Khz a n bin t pht ra mi
trng o.
Khi x l tn hiu thu c nhim v nhn tn hiu phn hi, khuch i v iu
ch thnh xung kch gi v khi iu khin trung tm.
Khi iu khin trung tm c nhim v:
Giao tip bn phm iu khin.
Nhn tn hiu iu ch t khi nhn v x l tn hiu thu kch dng b
m 8 bit
Chng II : H thng o khong cch
2.1 Khi cm bin :
2.1.1 Cm bin siu m :
2.1.1.1: Mt s loi cm bin siu m :
Khi x l
trung tm
Khi xung pht
thu v x l Khi tn
hiu thu
Khi ADC
Khi hin th
Khi ngun
Bnphm
phmphm
Hnh 2.1. : 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.
2.1.1.2 : 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
Hnh 2.2 : Nguyn tc TOF ca cm bin siu m
2.1.1.3 : 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 .
Hnh 2.3 : Tm qut ca cm bin siu m
2.1.1.4 Thng s mt s loi cm bin siu m SRF
Cm
bin
Thng
tin
Range

Angle
*
Echoes
**
Thi gian
khc nhau,
Ghi ch
Ti
thiu
Ti
a
SRF02
I2C /
Serial
15 cm 6 m 45 M t 70 ms A
SRF04
K thut
s
3 cm 3 m 45 M t
100 s - 36
ms
SRF05
K thut
s
3 cm 4 m 45 M t
100 s - 36
ms
SRF08 I2C 3 cm 6 m 45 17 65 ms BC
SRF10 I2C 3 cm 6 m 60 M t 65 ms AB
SRF235 I2C 10 cm 1,2 m 15 M t 10 ms AD
Bng 2.1 : Thng s cc loi cm bin
*: 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.
C: cm bin ny cng bao gm mt photocell mt trc pht hin nh
sng.
D: Hot ng mt tn s 235kHz cao hn.
2.1.2 : Cm bin siu m SRF05 v c im k thut
2.1.2.1 : 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.
2.1.2.2 : Cc ch ca SRF05
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 .

Hnh 2.4 : S chn ca SRF05
Hnh 2.5 : Gin nh thi ca SRF05 ch 1
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 :
SRF05 PIN 15 : s dng pin cho c hai v kch hot echo
Range VAR Word : xc nh phm vi bin 16 bit
SRF05 = 0 : bt u bng pin thp
PULSOUT SRF05, 5 : a ra kch hot pulse 10uS (5 x 2uS)
PULSIN SRF05, 1, Range : echo o thi gian
Range = Range/29 : chuyn i sang cm(chia 74 cho inch
Hnh 2.6 : Gin ch 2 ca SRF05
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 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:
2.1.2.3.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.
Hnh 2.7 : Nguyn tc hot ng ca SRF05
+ 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 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.
2.2 : Khi Vi iu khin
2.2.1 Gii thiu VK
B vi iu khin vit tt l Micro-Controller, l mch tch hp trn chp c
th lp trnh c, dng iu khin hot ng ca h thng. Theo cc
bc iu khin ca ngi lp trnh, vi iu khin c th c, lu tr thng
tin, x l thng tin, o thi gian v tin hnh ng m mt c cu no .
Trong cc thit b in v in t dn dng, cc b vi iu khin, iu khin
hot ng ca TiVi, my git, u c laser, in thoi, l vi baTrong h
thng t ng, b vi iu khin c s dng trong Robot, dy chuyn t
ng. Cc h thng cng thng minh th vai tr ca h vi iu khin cng
quan trng.
2.2.1.1 LCH S PHT TRIN CA VI IU KHIN
B vi iu khin thc ra, l mt loi vi x l trong tp hp cc b vi x l
ni chung. B vi iu khin c pht trin t b vi x l, t nhng nm 70
do s pht trin v hon thin v cng ngh vi in t da trn k thut MOS
(Metal-Oxide-semiconductor), mc tch hp ca cc linh kin bn dn
trong mt chp ngy cng cao.
Nm 1971 xut hin b vi x l 4 bit loi TMS 1000 do cng ty Texas
Intruments va l ni pht minh va l ni sn xut. Nhn tng th th b vi
x l ch c cha trn mt chip nhng chc nng cn thit x l chng
trnh theo mt trnh t, cn tt c cc b phn ph tr khc cn thit nh: b
nh d liu, b nh chng trnh, b chuyn i A/D, khi iu khin, khi
hin th, iu khin my in, khi ng h v lch l nhng linh kin nm
bn ngoi c ni vo b vi x l.
Mi n nm 1976 cng ty Intel (Interlligen-electronics) cho ra i b vi
iu khin n chip u tin trn th gii vi tn gi 8048. Bn cnh b vi
x l 8048 trung tm cn cha b nh d liu, b nh chng trnh, b m
v pht thi gian cc cng vo v ra Digital trn mt chp.
Cc cng ty khc cng ln lt cho ra i cc b vi iu khin 8 bit tng t
nh 8048 v hnh thnh nn h vi iu khin MCS-48 (Micro controller
system-48).
n nm 1980 cng ty Intel cho ra i th h vi iu khin th hai n chp
vi tn gi 8051. V sau hng lot cc vi iu khin cng loi vi 8051 ra
i v hnh thnh nn h vi iu khin MCS-51.
n nay h vi iu khin 8 bit MCS 51 c n 250 thnh vin v hu ht
cc cng ty hng u trn th gii ch to. ng u l cng ty Intel v rt
nhiu cng ty khc nh: AMD, SIEMENS, PHILIPS, DALLAS, OKI
Ngoi ra cc cng ty khc cng c cc h vi iu khin ring nh:
H 68HCOS Ca cng ty Motorola
H ST62 Ca cng ty SGS-Thomsom
H H8 Ca cng ty Hitachi
H Pic Ca cng ty Microchip
2.2.2 KHO ST H VI IU KHIN AT89XX
IC vi iu khin AT89XX thuc h MCS-51. C cc c im sau:
8 Kbyte Eprom bn trong.
128 byte Ram ni.
Port xut/nhp I/O 8 bit.
Giao tip ni tip.
64 Kbyte vng nh m ngoi.
64 Kbyte vng nh d liu ngoi.
X l Boolean (x l lun l hot ng trn bit n).
210 v tr nh c th nh v bit.
4s cho hot ng nhn hoc chia.
2.2.2.1 CU TRC BN TRONG CA AT89XX
Hnh 2.2.2.1 : S khi ca ca vi iu 89XX
Phn chnh ca vi iu khin AT89XX l b x l trung tm CPU (central
Processing Unit) bao gm:
Thanh ghi tch ly A
Thanh ghi tch ly ph B, dng cho php nhn v php chia
n v logic hc (ALU: Arithmetic Logical Unit)
T trng thi chng trnh (PSW: Program Status Word).
Bn Bank thanh ghi.
Con tr ngn xp.
Ngoi ra cn c b nh chng trnh, b gii m lnh, b iu khin thi
gian v logic.
n v x l trung tm nhn trc tip xung t b dao ng, ngoi ra cn
c kh nng a mt tn hiu gi nhp t bn ngoi.
Chng trnh ang chy c th cho dng li nh mt khi iu khin
ngt bn trong. Cc ngun ngt c th l : cc bin c bn ngoi, s trn
b m nh thi hoc cng c th l giao din ni tip.
Cc cng (port 0, port 1, port 2, port 3) c s dng vo mc ch iu
khin.
Port 3 cn c thm cc ng dn iu khin dng trao i vi mt b
nh bn ngoi, hoc giao tip ni tip v cc ng ngt dn bn ngoi.
Giao tip ni tip c cha mt b truyn v b nhn khng dng b lm
vic c lp vi nhau. Tc truyn qua cng ni tip c th t trong di
rng v c n nh bng mt b nh thi.
Trong b vi iu khin AT89XX c hai thnh phn quan trng khc l
b nh v cc thanh ghi.
B nh gm c b nh Ram v b nh Rom dng lu tr d liu v
m lnh.
Cc thanh ghi s dng lu tr thng tin trong qu trnh x l. Khi CPU
lm vic n lm thay i ni dung ca cc thanh ghi.
2.2.2.2 CHC NNG CC CHN VI IU KHIN
Hnh 2.2.2.2: S chn vi iu khin
Port 0: l Port c hai chc nng t chn 32 n chn 39.
Trong cc h thng iu khin n gin s dng b nh bn trong khng
dng b nh m rng bn ngoi th Port 0 c dng lm cc ng iu
khin IO (Input-Output).
Trong cc h thng iu khin ln s dng b nh m rng bn ngoi th
Port 0 c chc nng l Bus d liu AD7-AD0.
Port 1: Port 1 c s th t chn t 1-8. Port 1 ch c mt chc nng dng
lm cc ng iu khin xut nhp IO, Port 1 khng c chc nng khc.
Port 2: l port c hai chc nng vi s th t chn t 21-28.
Trong cc h thng iu khin n gin s dng b nh bn trong khng
dng b nh m rng bn ngoi th Port 2 c dng lm cc ng iu
khin IO (Input-Output).
Trong cc h thng iu khin ln s dng b nh m rng bn ngoi th
Port 2
c chc nng l Bus d liu AD8-AD15.
Port 3: l port c hai chc nng vi s th t chn t 10-17. Cc chn
ca port ny c nhiu chc nng, cc cng dng chuyn i c lin h vi
cc t tnh c bit ca 89XX nh bng sau:
Bit Tn Chc nng chuyn i
P3.0
P3.1
P3.2
P3.3
P3.4
P3.5
P3.6
P3.7
RxD
TxD
INT0\
INT1\
T0
T1
WR\
RD\
Ng vo nhn d liu ni tip.
Ng xut d liu ni tip.
Ng vo ngt cng th 0.
Ng vo ngt cng th 1.
Ng vo ca Timer/Counter th 0
Ng vo ca Timer/Counter th 1.
Tn hiu iu khin ghi d liu ln b nh
ngoi.
Tn hiu iu khin c d liu t b nh
ngoi.
Bng 2.2.2.2 : chc nng cc chn port 3
PSEN (Program Store Enable):
PSEN l tn hiu ng ra chn 29 c tc dng cho php c b nh
chng trnh m rng v thng ni n chn OE (Output Enable hoc RD)
ca Eprom cho php c cc byte m lnh.
Khi c giao tip vi b nh chng trnh bn ngoi th mi dng n
PSEN, nu khng giao tip th chn PSEN b trng.
PSEN mc thp trong thi gian vi iu khin ly lnh. Cc m lnh ca
chng trnh c t Eprom qua bus d liu v c cht vo thanh ghi lnh
bn trong vi iu khin gii m lnh.
ALE (Address Latch Enable):
Tn hiu ra ALE chn 30 dng lm tn hiu iu khin gii a hp
cc ng a ch v d liu khi kt ni chng vi IC cht.
Tn hiu ra chn ALE l mt xung trong khong thi gian port 0 ng
vai tr l a ch thp nn vic cht a ch c thc hin mt cch hon
ton t ng.
Cc xung tn hiu ALE c tc bng 1/6 ln tn s dao ng ca t
thch anh gn vo vi iu khin v c th dng tn hiu xung ng ra ALE
lm xung clock cung cp cho cc phn khc ca h thng.
Trong ch lp trnh cho b nh ni ca vi iu khin th chn ALE
c dng lm ng vo nhn xung lp trnh t bn ngoi lp trnh cho b
nh flash rom trong vi iu khin.
EA (External Access):
Tn hiu vo EA chn 31 thng c ni ln mc 1 (+5V
DC
) hoc
mc 0 (GND).
Nu ni EA ln mc logic 1 th vi iu khin s thi hnh chng trnh t
b nh ni.
Nu ni EA vi mc logic 0 th vi iu khin s thi hnh chng trnh t
n nh ngoi.
RST (Reset):
Ng vo RST chn 9 l ng vo Reset ca 89XX. Khi tn hiu ny
c a ln mc cao ( trong t nht l 2 chu k my), cc thanh ghi bn
trong vi iu khin s c ti nhng gi tr thch hp khi ng li h
thng.
Cc ng vo b dao ng trn chip:
Vi iu khin AT89XX c mt b dao ng trn chip. N c ni vi
thch anh gia hai chn 18 v 19. Tn s thng s dng l 12 MHz.
Cc chn ngun:
89XX vn hnh vi ngun n +5V
DC
. V
CC
c ni vo chn 40 v
V
ss
(GND) c ni vi chn 20.
Chng III : Thit k v thi cng
3.1 Nhim v thit k :
Nhim v cn thc hin l thit k mt mch o khong cch t 0-300 cm
dng sng siu m v iu chnh chnh xc ca mch o theo nhit .
o Thit k mch to xung pht sng.
o Thit k khi x l tn hiu thu.
o Thit k b m.
o Thit k khi khng ch b m v hin th vn tc truyn theo nhit .
o Thit k khi ngun.
3.2 Thit k mch to xung pht :
Bin t pht (sensor transmitter)
Hnh 3.1 : cp bin t siu m
K hiu 400ST
Tnh nng Bin t pht
Tn s hot ng 40kHz
p sut m 120dB typ. (0dB=0.02mPa)
Gc m lm vic 80 (typ.)
in dung 2550pF
Nhit chu ng ti thiu -30C
Nhit chu ng ti a 80C
Khong cch d gn nht 3 cm
Khong cch d xa nht 6 m
phn gii 9mm
in p chu ng 20Vp-p
Bng 3.1 : Bng thng s bin t thu
Dao ng to xung vung 40Khz:
C nhiu dng mch dao ng to xung vung khc nhau
3.2.1 Dao ng dng KTT (Op-amp)
-
+
O P - A M P
3
2
1
R 1
C 1
R 3
R 2
Hnh 3.2 Mch to sng vung dng b khuch i thut ton (Op-amp).
Nguyn l :
Hai trng thi ca mch tng ng vi hai mc bo ha dng v m ca
khuch i thut ton. Chu k dao ng ca mch c xc nh theo biu thc:
3
1 1
2
2
2 ln 1
R
T RC
R
_
+

,
(Theo trang 263 sgk K Thut in T - Lu Ph Lu Phi Yn Nguyn Nh
Anh)
3.2.2 Dao ng dng cng logic
Dng 1:
V o u t
7 4 1 4
1 2
R
C
Hnh 3.3 : Mch dao ng to xung vung dng vi mch 7414 (dng 1)
IC Tn s
7414
74LS14
74HC14
0.8/RC (R 500)
0.8/RC (R 2K)
1.2/RC (R 10M)
Bng 3.2 :Bng dao ng ca 1 s loi IC
V t np v x qua cng in tr R nn dng sng vung ra i xng. Do
ngng logic khc nhau nn tn s dao ng ca cng TTL v CMOS khc nhau.
Tn s dao ng cn b nh hng bi in tr ng ra ca cng logic v cc yu t
v nhit , vvnn cng thc trn ch l xp x. Ngoi ra tn s dao ng cn b
gii hn bi gi tr in tr qui nh nn tn s dao ng ca mch ch nm trong
khong vi Hz, do mch ny khng c s dng to dao ng tn s cao.
Dng 2:
R s
7 4 1 4 R
C
V o u t
7 4 1 4
Hnh 3.4 : Mch to xung vung dng vi mch 7414 (dng 2)
A B
Hnh 3.5 : Dng sng ng ra
Tn s dao ng:
Khi dng cng thc trn, in tr R phi ln hn 50K, t C phi ln hn1000
pF. V nguyn l mch dao ng vi khong rng ca in tr R (t vi trm ohm
n vi megohm) v t C (t 100pF n hng F), in tr R
S
khng c qu ln
v c th khin mch dao ng chp chn.
3.2.3 Mch nh thi 555
Mch nh thi dng ch cc mch nh thi cc thi gian tr hon (hay rng
xung ra) lu. Thng dng nht trong cc mch nh thi l IC 555. Bn cch IC
556 l hai 555 trong mt IC, 7555 l phin bn CMOS ca 555, 7556 l phin bn
CMOS ca 556, LM 322 chnh xc hn 555, RX2240 l mch nh thi lp trnh
c cn c gi l mch nh gi / mch m.
555 hot ng c ch phi n (Mch dao ng) v n n (mch to xung hay
to s tr hon). Trong cc ng dng i hi chc nng dao ng a hi ngi ta
thng dng 555, i vi cc yu cu c tnh chnh xc cao ngi ta thng dng
dao ng thch anh, hoc mch nh thi chnh xc hn LM 322.
Cu to ca mch 555
Vout
Vcc
GND
Vcc
GND
Vcc
GND
V
B
V
A
Hnh 3.6 : Cu to 555
555 dng lm mch dao ng
Mch dng hai in tr v mt t xc nh tn s v chu trnh lm vic ca tn
hiu ra. Khi va ng in t C in th 0V tc di ngng Vcc/3. Mc thp
ny hin hu ng ny lm 555 ny v ng ra ln cao (xp x Vcc 1.7V), ng
thi t np v hng Vcc qua hai in tr Ra v Rb, nhng khi t np n gi tr
bng ngng trn 2Vcc/3 flip flop lt trng thi v ng ra xung thp (xp x 0V).
Lc by gi transistor Tr dn v t x in v hng 0V. Khi in th ca t bng
ngng di Vcc/3 flip flop tr li trng thi ban u v ng ra ln cao, transistor
Tr ngng dn v t C np li v pha Vcc. Kt qu l ng ra c tn hiu sng
vung. V t np qua hai in tr Ra, Rb cn x ch qua in tr Rb nn dng sng
vung ng ra khng i xng vi thi gian mc cao t
h
lu hn thi gian t
x
mc
thp, hay ni cch khc dng sng c chu trnh lm vic, tc t s t
h
/T trn 50%. Kh
i th dng sng gn nh i xng, cn th chu trnh lm vic gn
nh 100%. Tuy nhin gii hn ca Ra cng cn phi c lu . Nu khng cn
phi c dng sng i xng ta c th cho 555 dao ng t tn s 1Hz n gn 1
MHz.
Hnh 3.7 : Mch dao ng a hi phi n dng 555
Hnh 3.8 : Dng sng ng ra
Thi gian t np (ra cao): t
h
= 0.693*(Ra + Rb)*C
Thi gian t x (ra thp): t
x
= 0.693*Rb*C
Chu k tn hiu ra: T = t
h
+ t
x
= 0.693*(Ra + 2Rb)*C
Tn s tn hiu ra:
( )
1 1.44
2 *
a b
f
T R R C

+
Thit k
Ra: vi K n 10M, Rb: khng gii hn, C: t vi chc pF n 1000pF.
+ Chn C = 1000pF; Ra = 1.5k
f = 40Khz => T = 1/f = 25 uS
T = t
h
+ t
l
= 25 uS.
+ Chn
13
12
h
l
t uS
t uS

'

( ) 0.693 * 13
0.693 * 12
h a b
l b
t R R C uS
t R C uS
+

'

( )
6
3
12
0.693 *
12*10
17.316*10 17.316
0.693* 0.693*1000*10
h a b
l
b
t R R C
t
R k
C

'

( )
6 3 12
' 3 3
1 1
6
3 3
12
3 3 3
1
13*10 0.693 17.316*10 *1000 *10
8.2*10 17.316*10
13*10
17.316*10 1.443*10 1.5
0.693*1000*10
17.316 *10 8.2*10 9.116*10 10
a
b b
a
R
R R VR VR
R k
VR k

'
+ +

'

Chn:
'
1
1.5
8.2
10
1000
a
b
R k
R k
VR k
C pF

'

V C C ( 5 V - 1 5 V )
5 5 5 B
1
2
3
4
5
6
7
8
G N D T R I G
O U T
R E S
C T R L
H O L D
D I SV C C
R a
1 . 5 K
1 0 4
V R 1
1 0 k
C
1 0 2
V o u t
R b '
8 . 2 k
Hnh 3.9 : Mch dao ng 40Khz dng 555
3.2.4 Dao ng lp trnh t vi iu khin
- T nhng phn tch trn ta thy rng cc mch dao ng u hot ng da vo
in tr v t in mc thm bn ngoi quyt nh, nn khng c chnh xc v
n nh cao, khc phc, mt phn t c chnh xc v n nh cao c
dng, l tinh th thch anh, lc by gi ta c mch dao ng tinh th hoc mch
dao ng kim sot bi tinh th thch anh, v d: Mch dao ng lp trnh vi iu
khin. Mt lt mng c ct t khi tinh th thch anh theo chiu hng ph hp
khi c kch thch s rung (dao ng) tn s chnh xc m rt n nh theo
nhit v thi gian.
3 3 p
1 2 M h z
3 3 p
A T 8 9 C 5 1
1 8
1 9
1 0
X T A L 2
X T A L 1
P 3 . 0 / R X D
Hnh 3.10 Mch dao ng lp trnh vi iu khin
Hnh 3.11 : Dng sng ng ra
Thit k
Hnh 3.12 : Lu chng trnh to xung 40Khz
3.2.5 Mch cng sut pht
Y
Begi
n
Setb Xung 40Khz
Khi to timer 1
CPL Xung 40Khz
TF1 = 1
End
N
U 3 C
4 0 6 9
5 6
C 5
0 . 1 u F
U 3 A
4 0 6 9
1 2
U 3 F
4 0 6 9
1 3 1 2
U 3 B
4 0 6 9
3 4
T x
U 3 E
4 0 6 9
1 1 1 0
Hnh 3.13 : Mch cng sut pht
3.3 KHI X L TN HIU THU
Bin t thu (sensor reciever)

K hiu 400SR
Tnh nng Bin t thu
Tn s lm vic 40kHz
nhy -63dB (0dB=10V/Pa)
Gc m lm vic 80
in dung 2550pF
Nhit lm vic ti thiu -30C
Nhit lm vic ti a 80C
Khong cch d ti thiu 3 cm
Khong cch d ti a 6 m
phn gii 9 mm
in p chu ng 20 Vpp
Bng 3.3 :Bng thng s bin t thu
Nguyn l mch x l tn hiu thu
- 1 2 V
C 1 1
0 . 1 u F R 7
1 0 K
R x
D 2
4 1 4 8
R 6
1 0 K R 1 1
1 0 K
R 8
1 M
R 9
1 0 0 K -
+
U 5 B
L M 3 5 8
5
6
7
D 4
4 1 4 8
-
+
U 6 A
L M 3 5 8
3
2
1
4
8
C 1 6
0 . 1 u F
R 1 0
1 M
-
+
U 5 A
L M 3 5 8
3
2
1
4
8
R 1 4
+ 1 2 V
R 1 2
1 0 K
R 1 5
1 0 K U 7 C
4 0 1 1
8
9
1 0
C 1 7
0 . 1 u F
C 1 3
0 . 1 u F
U 7 A
4 0 1 1
1
2
3
1
4
7
x u n g c h o t
C 6
1 0 0 0 p
+ 1 2 V
R 1 3
D 1
4 1 4 8
+ 1 2 V
C 1 2
0 . 1 u F
K h a x u n g
- 1 2 V
U 7 B
4 0 1 1
5
6
4
Hnh 3.14 : S nguyn l mch x l tn hiu thu
3.3.1 Mch khuch i
C 1 1
0 . 1 u F R 7
1 0 K
R 6
1 0 K R 1 1
1 0 K
R 8
1 M
R 9
1 0 0 K
V o u t
-
+
U 5 B
L M 3 5 8
5
6
7
R 1 0
1 M
-
+
U 5 A
L M 3 5 8
3
2
1
4
8
R 1 2
1 0 K C 1 2
0 . 1 u F
C 1 3
0 . 1 u F
+ 1 2 V
- 1 2 V
Hnh 3.15 : Mch khuch i tn hiu thu.
Op amp:
- Tng tr vo cao
- p ng c v mt tn s.
- H s khuch i cao.
T cc yu cu trn nhm la chn mch khuch i dng Op amp lm b
khuch i tn hiu thu.
Xt tng khuch i th nht:
y l mch khuch i o vi li
6
8
1 4
7
10
100
10
V
R
A
R

Xt tng khuch i th hai:
y l mch khuch i o vi li
6
10
2 5
9
10
10
10
V
R
A
R

li ton mch:
1 2
* 100*10 1000
V V V
A A A

3.3.2 Mch tch sng
D 2
4 1 4 8
D 1
4 1 4 8
C 6
1 0 0 0 p
V i n V o u t
C 1 6
0 . 1 u F
Hnh 3.16 : S mch tch sng
Mch tch sng c tc dng chnh lu chm xung sau mch khuch i to mc
in p dng khi c sng phn x.
3.3.3 Mch khng ch
+ 1 2 V
- 1 2 V
B
D 4
4 1 4 8
-
+
U 6 A
L M 3 5 8
3
2
1
4
8
R 1 4
+ 1 2 V
R 1 5
1 0 K
C 1 7
0 . 1 u F
R 1 3
K h a x u n g
A
Hnh 3.17 : S mch khng ch
C nhim v khng ch khng cho tn hiu thu vo tng sau trong thi gian pht
sng nhm trnh hin tng sng i trc tip t u pht vo u thu.
Trong thi gian pht sng diode D
4
lun dn lm cho op-amp lun bo ha dng
bt chp tn hiu mch thu.
in tr R
13
, R
14
to p chun Vrf = 0.4V, tn hiu ng vo s c so snh vi Vrf
c ng ra l xung mc thp tng ng ti thi im nhn c sng phn x.

( )
13
13 14
*
0.4
CC
rf
R V
V
R R

+
Chn R
14
=1 M =>
( )
( )
6
14 3
13
*
10 * 0.4
35 *10 35,1
12 0.4
rf
CC rf
R V
R k
V V


Thit k: R
13
= 33k + 2.2k = 35.2k
Hnh 3.18 : Dng sng ti cc ng vo ra b khng ch

- 1 2 V
B
R 1 6
2 . 2 k
D 4
4 1 4 8
-
+
U 6 A
L M 3 5 8
3
2
1
4
8
R 1 4
1 M
+ 1 2 V
R 1 5
1 0 K
C 1 7
0 . 1 u F
R 1 3
3 3 K
+ 1 2 V
K h a x u n g
A
Hnh 3.19 : Mch khng ch sau khi thit k
3.3.4 Khi o thi gian xung truyn
Khi ny hot ng nh mt flip flop to
nn mt xung ko di trong sut thi gian
sng i v v nh hnh v (D) vi cnh ln
tng ng vi thi im pht xung v cnh
xung tng ng vi thi im thu c
chm xung phn x.
Hnh 3.20 : Dng sng ti cc ng vo ra
3.4 THIT K B M
3.4.1 Mch to xung m
Tn s xung m ph thuc vo vn tc truyn sng trong mi trng, v phn
gii ca php o.
Hnh 3.21 : S mch to xung m
o c khong cch x chm tia siu m phi i v v mt on 2x, vi vn tc
V trong thi gian t. Khong cch cn o x cng l s xung m trong thi gian t.
Vy tn s xung m: f = x/t, m t = 2x/V, nn
2
2
x V
f
x
V

.
thang o met: f = V/2 v V(m/s)
thang o centimet: f = 100*V/2 v V(100cm/s)
thang o millimet: f = 1000*V/2 v V(1000cm/s)
Ti nhit 20
0
C, ta c vn tc truyn sng trong khng kh l 343.5 m/s
Ta c tn s m thang cm: f =100*343.5/2=17175 Hz xp x 17 Khz
Chu k xung m: T = 1/17*10
3
= 58 s
Ta chn T = t
h
+ t
l
= 58 s vi t
h
= t
l
= 29 s.
S dng vi iu khin lp trnh.
3.4.2 Mch m 0 255
Do gii hn ca mch o nn yu cu b m ch nm trong gii hn 8 bit.
Lu mch m:
Chm tia phn x
Chm tia ti
Mt phn cch
Khong cch cn o
Y
Y
N
N
End
Begi
n
Inc Binm
Bit cho php = 1
Hin th
Xung cht cao
Hnh 3.22 : Lu mch m
3.5 Khi hin th
c im v cu to ca LED 7 on :
Mt trong nhng loi n hin th thong dng, c s dng rng ri
l n LED 7 on
Led 7 on bao gm 7 ( hoc 8 on a, b, c, d, e, f, g ) ,led n c
u song song vi nhau v c mt u chung. u c th l Anot hoc
Katot xp theo hnh s 8 . Ty thuc vo t hp cc on c thp sang
m ta c cc s v ch khc nhau. Gi s nh b v c sng s c s 1 , nu
a,b,c,d,e,f,g cng sng th ta c s 8 .
Hnh 3.23 :.Cu trc ca LED 7 on
Led 7 on cng ging nh led n, in p chu ng c cng da
vo c im mu sc ca chng .y l loi n dung hin th cc s t
0- 9. Khi mt t hp cc on chy sng s to c mt con s thp phn
t 0 9.
i vi led 7 on , ta phi tnh ton sao cho mi on ca led c
dng t 10 20 mA. Vi in p l 5 V th in tr cn dng l 330 .
Vic thc hin mi mt con s l do mt led 7 on hin th do s
dng phng php gii m ng nn ta thc hin giao tip gia VK Master
vi led hin th nh hnh sau :
trong mch ny th em s dng Led 7 on loi Ant chung.
LED anot
chung
LED catot
chung
Bng 3.4: Gi tr led hin th
o Phng php qut led l phng php li dng hin tng
lu nh v nhy km ca mt chng ta .
o phng php ny ti mt thi im ch c 1 led sng , thi
gian mi led sng khong t 50 100 us .S giao tip
VK 89C51 vi Led 7 on theo phng php qut:
Hnh 3.24 : S giao tip VK 89C51 vi Led 7 on.
Cc on ca led ni vi nhau , 2 transister PNP lm nhim v cp
ngun cho led .
Nh vy,d liu a ra cc on led , cc tn hiu qut led
u tch cc mc thp .
Ta c bng trng thi sau :
S
thp
Phn
M 7 on ( dng nh phn )
M led 7
on
(dng
hexa )
h g f e d c b a
0 1 1 0 0 0 0 0 0 0C0H
1 1 1 1 1 1 0 0 1 0F9H
2 1 0 1 0 0 1 0 0 0A4H
3 1 0 1 1 0 0 0 0 0B0H
8051
Port 0
Port 1
a
g
a
g
Vcc
4 1 0 0 1 1 0 0 1 99H
5 1 0 0 1 0 0 1 0 92H
6 1 0 0 0 0 0 1 0 82H
7 1 1 1 1 1 0 0 0 0F8H
8 1 0 0 0 0 0 0 0 80H
9 1 0 0 1 0 0 0 0 90H
Bng 3.4 : bng trng thi cc led 7 on .
3.6 KHI NGUN
S W 1 0
C O N G T A C
C 1 9
1 0 0 u F
C 1 5
1 0 0 u F
D 1 0
L E D
U 8 7 8 H T 1 2
1 3
2
V I N V O U T
G
N
D
D 1 3
L E D
D 1 2
L E D
R 1 7
1 K
C 1 0
1 0 0 0 u F
R 1 0
2 2 0
C 1 4
1 0 0 u F
U 9 7 9 H T 1 2
1
3 2
G
N
D
V O U T V I N
C 1 1
1 0 0 0 u F
-
+
D 1 1
B R I D G E
2
1
3
4
J 1
B I N T H
1
2
3
U 1 0 7 8 0 5
1 3
2
V I N V O U T
G
N
D
C 1 8
1 0 0 u F
R 1 9
1 K
Hnh 3.25 S nguyn l khi ngun
Vi iu khin: p 0 5V. Dng nh mc: 71mA
Khi chun ha , to xung tn hiu in p + 12V ,- 12V dng nh mc l
0,5A
T cc gi tr trn ta nhn thy cc IC n p h 78xx p ng c yu cu ca
mch.
3.7 : S mch nguyn l v lu gii thut
3.7.1 : S mch nguyn l
Mch nguyn l :
A 3
B 3
C 3
D 3
E 3
F 3
G 3 A 3
G 3
F 3
E 3
D 3
C 3
B 3
A 3
B 3
C 3
D 3
E 3
F 3
G 3
A 3
B 3
C 3
D 3
E 3
F 3
G 3
X T A L 2
1 8
X T A L 1
1 9
A L E
3 0
E A
3 1
P S E N
2 9
R S T
9
P 0 . 0 / A D 0
3 9
P 0 . 1 / A D 1
3 8
P 0 . 2 / A D 2
3 7
P 0 . 3 / A D 3
3 6
P 0 . 4 / A D 4
3 5
P 0 . 5 / A D 5
3 4
P 0 . 6 / A D 6
3 3
P 0 . 7 / A D 7
3 2
P 1 .0
1
P 1 .1
2
P 1 .2
3
P 1 .3
4
P 1 .4
5
P 1 .5
6
P 1 .6
7
P 1 .7
8
P 3 . 0 / R X D
1 0
P 3 . 1 / T X D
1 1
P 3 . 2 / I N T 0
1 2
P 3 . 3 / I N T 1
1 3
P 3 . 4 / T 0
1 4
P 3 . 7 / R D
1 7
P 3 . 6 / W R
1 6
P 3 . 5 / T 1
1 5
P 2 . 7 / A 1 5
2 8
P 2 . 0 / A 8
2 1
P 2 . 1 / A 9
2 2
P 2 . 2 / A 1 0
2 3
P 2 . 3 / A 1 1
2 4
P 2 . 4 / A 1 2
2 5
P 2 . 5 / A 1 3
2 6
P 2 . 6 / A 1 4
2 7
U 2
A T 8 9 C 5 1
C 1
3 3 p f
C 2
3 3 p F
X 1
C R Y S T A L
C 3
1 0 u F
R 1
1 0 k
A 1
B 1
C 1
D 1
E 1
G 1
F 1
C
A
2
L E D 1
A 1
B 1
C 1
D 1
E 1
G 1
F 1
C
A
2
L E D 2
Q 1
M P S A 6 5
Q 2
M P S A 6 5
R 2
2 . 2 k
B
C B
R 4
3 3
A
R 3
2 . 2 k
1
2
J 2
S I L - 1 0 0 - 0 2
A 1
B 1
C 1
D 1
E 1
G 1
F 1
C
A
2
L E D 3
A
Q 3
M P S A 6 5
R 5
2 . 2 k
C
1
2
J 3
S I L - 1 0 0 - 0 2
1
2
3
4
5
6
7
J 1
S IL - 1 0 0 - 0 7
1
2
3
4
5
6
7
J 4
S I L - 1 0 0 - 0 7
t r a n A 1 0 1 5
+ 5 v
S R F 0 5
Nguyn l hot ng : B vi iu khin nhn cc tn hiu t mi trng bn
ngoi thng qua b bin i, 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.
3.7.2 : Lu gii thut
En
d
Hin th LED
Begi
n
Khi to LED
Clr BitRx
Ngng b m
Chuyn s m sang BCD
Pht xung v kha b thu
Khi to vng nh lu tr d
liu hin th
BitRx = 1
BCD to ASCII
BitRx = 0
Giai o 1
Mode = 1
Giai o 2
N Y
N
Y
N
Y
Hnh 3.26 : Lu o khong cch
3.8 : Chng trnh
;CHUONG TRINH DO AN TOT NGHIEP
;MAY DO KHOANG CACH UNG DUNG SONG SIEU AM
;SVTH: Tran Huu Chung
RS BIT P2.3
RW BIT P2.4
E BIT P2.5
LEDDATA EQU P0 ;DU LIEU LED
LOP BIT P1.0 ;LOCK PULSE COUNTER
MODE BIT P2.7 ;CHON DAI DO
INTR BIT P2.2
WRT BIT P2.1
RED BIT P2.0
KEY1 BIT P1.2 ;DO KHOANG CACH THEO TRUYEN
SONG CUA BIEN TU
KEY3 BIT P1.4 ;HIEN THI TAN SO XUNG DEM
BITRx BIT P1.1 ;LATCH PUSE COUNTER 4kHz
LLP BIT P2.6 ;LATCH LED PULSE
;
*************************************************************
**************************************
BUFFPRO EQU 30H ;THANH GHI DEM
ORG 000H
LJMPKHOITAO
ORG 030H
KHOITAO:
MOV TMOD,#01H
MOV BUFFPRO,#0 ;XOA THANH GHI DEM
SETB KEY1
SETB KEY3
CLR LLP ;CHO PHEP HIEN THI LED
CLR LOP ; KHOA BO DEM
CLR MODE
CLR BITRx
LCALL KTLED ; KHOI TAO LED
MAIN:
LJMP MAIN
;
#############################################################
########################################
;##########################################CHUONG TRINH
PHIM 1 #####################################
;
#############################################################
########################################
CTKEY1:
CLR LOP ;XUNG DIEU KHIEN PHAT
_DD0: MOV R5,#125 ;TAN SO XUNG
4kHz
DJNZ R5,_DD0
CPL LOP ;CHOT BO THU
SETB TR0
SETB BITRx
_DD1: MOV R5,#125
DJNZ R5,_DD1
CLR LOP
_DD10: MOV R5,#0FFH
DJNZ R5,_DD10
CLR BITRx
JB BITRx,$
CLR TR0
MOV R7,TH0
MOV R6,TL0
JNB MODE,_DD2 ;KIEM TRA MODE
MOV B,#6
MOV A,#0C0H ;THONG BAO
LCALL GHIMADK
LCALL DELAY40MS
MOV DPTR,#_MODE0
MOV R3,#16
TB0: CLR A
MOVC A,@A+DPTR
LCALL GHIDATA
LCALL DELAY
INC DPTR
DJNZ R3,TB0
JMP _DD3
_DD2:
MOV A,#0C0H ;THONG BAO
LCALL GHIMADK
LCALL DELAY40MS
MOV DPTR,#_MODE1
TB1:
MOV R3,#16
CLR A
MOVC A,@A+DPTR
LCALL GHIDATA
LCALL DELAY
INC DPTR
DJNZ R3,TB1
MOV B,#60
_DD3:
MOV B,#1
LCALL DIV16_8 ;DOI XUNG RA
KHOANG CACH (CM)
MOV B,#10
LCALL DIV16_8 ;CHUYEN SANG
MA BCD
MOV 10H,B ;HANG DON VI
MOV B,#10
LCALL DIV16_8
MOV 11H,B ;HANG CHUC
MOV B,#10
LCALL DIV16_8
MOV 12H,B ;HANG TRAM
MOV B,#10
LCALL DIV16_8
MOV 13H,B ;HANG NGAN
MOV B,#10
LCALL DIV16_8
MOV 14H,B ;HANG CHUC NGAN
MOV B,#10
LCALL DIV16_8
MOV 15H,B ;HANG CHUC NGAN
MOV R2,#5
MOV A,#80H
LCALL GHIMADK
LCALL DELAY40MS
_DD4: MOV A,#' '
LCALL GHIDATA
LCALL DELAY
DJNZ R2,_DD4
MOV R1,#15H
_DD5: MOV A,@R1
ADD A,#30H ;CHUYEN MA ASCII
LCALL GHIDATA
LCALL DELAY
DEC R1
CJNE R1,#0FH,_DD5
MOV A,#89H
LCALL GHIMADK
LCALL DELAY40MS
MOV A,#'C'
LCALL GHIDATA
LCALL DELAY
MOV A,#8AH
LCALL GHIMADK
LCALL DELAY40MS
MOV A,#'m'
LCALL GHIDATA
LCALL DELAY
MOV R2,#5
MOV A,#8BH
LCALL GHIMADK
LCALL DELAY40MS
_DD6: MOV A,#' '
LCALL GHIDATA
LCALL DELAY
DJNZ R2,_DD6
RET
;
#############################################################
#####################################
;######################################## CHUONG TRINH PHIM
3 ####################################
;
#############################################################
#####################################
;****************************************PHIM MODE
************************************************
CTKEY3:
CPL MODE
RET
;
#############################################################
#####################################
;###################################### CHUONG TRINH CON
########################################
;
#############################################################
####################################
;************************************** KHOI TAO LED
**********************************************
KTLED:
MOV A,#38H
LCALL GHIMADK
LCALL DELAY40MS
MOV A,#38H
LCALL GHIMADK
LCALL DELAY40MS
MOV A,#0CH
LCALL GHIMADK
LCALL DELAY40MS
MOV A,#01H
LCALL GHIMADK
LCALL DELAY40MS
RET
;************************************** XOA MAN HINH
***********************************************
XHT: MOV A,#01H ;DELAY 6uS
LCALL GHIMADK
LCALL DELAY40MS
RET
;************************************** GHI MA DIEU KHIEN
LED **************************************
GHIMADK: ;DELAY 5uS
MOV LEDDATA,A
CLR RS
CLR RW
SETB E
CLR E
RET
;************************************** GHI MA DU LIEU LED
*****************************************
GHIDATA: ;DELAY 5uS
MOV LEDDATA,A
SETB RS
CLR RW
SETB E
CLR E
RET
;************************************* HEX TO BCD
CONVERTER *****************************************
HEXTOBCD: ;DELAY 28uS
MOV B,#10
DIV AB
MOV 13H,B
MOV B,#10
DIV AB
MOV 14H,B
MOV 15H,A
JZ EXIT0 ;CHUONG TRINH XOA 0
ADD A,#10H
MOV 15H,A
MOV A,14H
ADD A,#10H
MOV 14H,A
JMP EXIT1
EXIT0: MOV A,14H
JZ EXIT1
ADD A,#10H
MOV 14H,A
EXIT1: RET
;************************************* HIEN THI LED
*************************************************
HIENTHI:
DIS1: MOV A,R0
CALL GHIMADK
CALL DELAY40MS
MOV A,@R1
ADD A,#20H
LCALL GHIDATA
LCALL DELAY
INC R0
DEC R1
CJNE R1,#13H,DIS1
MOV A,R0
LCALL GHIMADK
LCALL DELAY40MS
MOV A,@R1
ADD A,#30H
LCALL GHIDATA
LCALL DELAY
INC R0
DEC R1
DIS0: MOV A,R0
LCALL GHIMADK
LCALL DELAY
MOV A,@R1
LCALL GHIDATA
LCALL DELAY
INC R0
DEC R1
CJNE R0,#8BH,DIS0
RET
HIENTHI2:
DIS12: MOV A,#080H
CALL GHIMADK
CALL DELAY40MS
MOV R0,#5
HT200: MOV A,#' '
CALL GHIDATA
CALL DELAY
DJNZ R0,HT200
MOV A,@R1
ADD A,#20H
LCALL GHIDATA
LCALL DELAY
DEC R1
MOV A,@R1
ADD A,#20H
CALL GHIDATA
CALL DELAY
DEC R1
MOV A,@R1
ADD A,#30H
CALL GHIDATA
CALL DELAY
MOV A,#'o'
CALL GHIDATA
CALL DELAY
MOV A,#'C'
CALL GHIDATA
CALL DELAY
MOV R0,#6
HT201:
MOV A,#' '
CALL GHIDATA
CALL DELAY
DJNZ R0,HT201
RET
;############################# CHIA 16 BIT
##########################################################
DIV16_8:
PUSH 02H
PUSH ACC
MOV R2,#16
CLR A
DEVICE:
XCH A,R6
CLR C
RLC A
XCH A,R6
XCH A,R7
RLC A
XCH A,R7
RLC A
JNC _X1
CLR C
SJMP A_GREATER_EQ_B
_X1:
CJNE A,B,NOT_EQUAL
SJMP A_GREATER_EQ_B
NOT_EQUAL:
JC BELOW
A_GREATER_EQ_B:
SUBB A,B
XCH A,R6
ORL A,#1
XCH A,R6
BELOW:
DJNZ R2,DEVICE
XCH A,B
POP ACC
POP 02H
RET
;
#############################################################
########################################
;############################# CHUONG TRINH DELAY
####################################################
;
#############################################################
#######################################
DELAY40MS:
MOV 70H,#10
DEL0:
MOV 71H,#0FFH
DJNZ 71H,$
DJNZ 70H,DEL0
RET
;
*************************************************************
****************************
DELAY:
MOV 7EH,#50
DEL1:
MOV 7FH,#50
DJNZ 7FH,$
DJNZ 7EH,DEL1
RET
;
*************************************************************
****************************
DELAY50:
MOV 7EH,#1
DEL2:
MOV 7FH,#25
DJNZ 7FH,$
DJNZ 7EH,DEL2
RET
;
*************************************************************
****************************
DELAY1S:
MOV 70H,#10
DEL3: MOV 71H,#100
DEL4: MOV 72H,#100
DJNZ 72H,$
DJNZ 71H,DEL4
DJNZ 70H,DEL3
RET
;*********************** DELAYDEM
********************************************************
; DELAY10MS:
MOV R5,#10
DEL5: MOV TMOD,#01H
MOV TH0,#HIGH(-1000)
MOV TL0,#LOW(-1000)
SETB TR0
JNB TF0,$
DJNZ R5,DEL5
RET
;
*************************************************************
****************************
DELAYS:
MOV 70H,#10
DEL6: MOV 71H,#100
DEL7: MOV 72H,#100
DJNZ 72H,$
DJNZ 71H,DEL7
DJNZ 70H,DEL6
RET
;
#############################################################
###########################
;############# TAO VUNG DU LIEU
#########################################################
;
#############################################################
###########################
_MODE0: DB 'GIAI DO CENTIMET'
_MODE1: DB 'GIAI DO MILLIMET'
TEN: DB 'Tran Huu Chung'
TUA: DB ' MAY DO CU LY '
_0C: DB ' V = 331.5 m/s '
_10C: DB ' V= 337.5 m/s '
_20C: DB ' V = 343.5 m/s '
_30C: DB ' V = 349.5 m/s '
_40C: DB ' V = 355.5 m/s '
_50C: DB ' V = 361.5 m/s '
END
Phn 3 : Kt lun v kin ngh .
A KT LUN
Qua thi gian nghin cu v thc hin ti THIT K V THI CNG
MY O KHONG CCH NG DNG SNG SIU M nhm thc hin t
c cc kt qu sau:
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 .
B. Kin ngh
Vi thi gian thc hin ti tng i ngn nn ti khng th trnh khi nhng
sai st mch thi cng cha t c ng theo yu cu nhm thc hin hy vng vi
thi gian sau ny nhng hn ch ca ti s c khc phc trong cc nhm sau.
Do kin thc chuyn mn, thi gian nghin cu v kinh nghim thc t cn hn ch
nn mch thi cng cha p ng c yu cu ra ban u. Nhm thc hin rt
mong c s ng gp kin t qu thy c, bn b, v nhng ngi quan tm
n ti ny ti c hon thin hn.
Em Xin Chn Thnh Cm n !
C. Ti liu tham kho
o Nguyn Tng Cng , Cu trc lp trnh h VK 8051 . NXB
Khoa hc v k thut.
o Lng Ngc Hi , Gio trnh k thut Xung S . NXB gio dc.
o Sonar faq, srf05tech, Application_Note_Ultrasonic
o HANS P. MORAVEC, Sensor Fusion in Certain,Grid for Mobiles Robots
o Cc trang web tham kho: ant7.com, acroname.com, hobbyengineering.com,
cpu.word.com, metechvn.com, robotics.com.