Li m u

Sau 1 khong thi gian hc tp, tm hiu v lm vic nghim tc, n hon thnh ng k hn. c c thnh qu ny, mt mt l s c gng v kin thc ca bn thn, mt khc cn l s ch dn tn tnh ca thy c, s gip ca bn b. Xin c gi li cm n n Thy KS. L Tn Cng, gio vin hng dn, ngi trc tip ch bo, gip nhm thc hin trong sut thi gian thc hin n. A. Tng quan ti: Sau 1 khong thi gian hn 2 thng hc tp v lm vic, ti hon thnh ng thi hn. ti gii quyt c nhng vn trng tm sau: - Nghin cu s dng phn mm MatLab, mt trong nhng phn mm k thut mnh nht hin nay. - Nghin cu s dng cng c lp trnh giao din GUI trn MatLab. - Nghin cu chun RS232 v giao tip my tnh bng MatLab. - Tm hiu h vi iu khin AVR - Atmega 32. - Tm hiu cu trc h Pan-Tilt, thit k c 1 h Pan-Tilt c bn. - Tm hiu cm bin siu m SRF04, xc nh khong cch dng SRF04.

MatLab Programing

PAN-TILT

Hnh 01: S khi tng th * Quy trnh: - Vi iu khin (VK) gi tn hiu iu khin h Pan-Tilt hot ng (mang cm bin quay v qut). - Trong qu trnh Pan-Tilt quay, cm bin SRF04 lin tc pht ra sng o khong cch xc nh c vt. Khi c vt, SRF04 gi tn hiu (gi tr ta ti im c vt) v VK. - VK gi ta ny ln my tnh thc hin vic v bin dng vt. B. L thuyt: I. Cm bin siu m SRF04 (Sonar Range Finder): 1. Gii thiu SRF04: - Siu m Devantech SRF04 c s dng thu cc thng tin v khong cch mt cch chnh xc trong di t 3cm n 3m. Sensor ny gm b thu pht siu m tch bit, sensor c 4 chn ni trong hai chn cho ngun nui, hai chn cn li mt cho xung tn hiu vo (Trigger Pulse Input), mt cho tn hiu ra (Echo Pulse Output).

Hnh 2.1: Mt top SRF04

Hnh 2.2: Mt bottom SRF04 - SRF04 hot ng thng qua vic truyn mt xung m thanh c tn s nm ngoi di tn s nghe ca con ngi. Xung ny truyn tc m thanh khong 0.9ft/giy, di dng mt chm hnh nn, m thanh phn x tr li ti u thu t vt th bt k trn ng i ca sng siu m. Tn hiu in ti u thu c dng cc xung vi ko di xung ph thuc vo khong cch phn x k t v tr vt ti u thu. vic thu pht lm vic hiu qu, b pht tm ngng pht sng trong khong thi gian siu m c truyn sau i tn hiu phn x. - Xung u ra ca sensor c a ti chn ngt INT2 ca vi iu khin. Vic xc nh thi gian ko di xung s gip cho chng ta xc nh c khong cch. 2. Thng s k thut: + in p s dng: 5VDC. + Dng tiu th: cc i l: 50mA, thng l 30mA. + Vng lm vic ca sensor: pht hin khong cch t 3cm ti 3m. + Tn s s dng 40Khz. + Xung kch pht 10us mc cao tng thch TTL. + Xung phn x mc cao c rng xung t l vi khong cch. + Gc m ca b pht : 300.