Ti liu k thut

BKpro http://www.bkpro.info

I.Mach Robot t ong Bkpro:

J6

D30

Q13
B688

1
2

U5

D31
LED

RESET

6
5
4
3

CLK
CLR

Q3
Q2
Q1
Q0

Q4
Q5
Q6
Q7

8
9

TXD

10
11
12
13

O4
O5
O6
O7

5V

5V

TXD
RXD

31

P0.7/AD7
P0.6/AD6
P0.5/AD5
P0.4/AD4
P0.3/AD3
P0.2/AD2
P3.2/INT0 P0.1/AD1
P3.3/INT1 P0.0/AD0
P3.4/T0
P3.5/T1

5V
1
2
3
4
5
6

4K7
J1
6
5
4
3
2
1

NAP 89SXX

12
13
14
15
5V

X1

DK PWM2
DK PWM3
DK PWM4
RST

P2.0/A8
P2.1/A9
P2.2/A10
P2.3/A11
P2.4/A12

P1.0
P1.1
P1.2
P1.3
P1.4
P1.5
P1.6
P1.7

8051

32
33
34
35
36
37
38
39

CAMBIEN8
CAMBIEN7
CAMBIEN6
CAMBIEN5
CAMBIEN4
CAMBIEN3
CAMBIEN2
CAMBIEN1

5
6

P2.2
P2.3
P2.4

11
10
9
7

Y
Y

Y1

ZTA

2
3
4
5
6
7
8
9

A
B
C

2K2

J4

P2.1

5
6

P2.2
P2.3
P2.4

11
10
9

C5
30P

4
3
2
1
15
14
13
12

D0
D1
D2
D3
D4
D5
D6
D7

Y
Y

5V

2
3
4
5
6
7
8
9

A
B
C

2K2

J5

DP

LED7.4

1K

D1

100K

R22

LEDTHU2

U12B
7

R28

U13A
1

D6

LED

D7

LED

D8

LED

LED

R30

12 +

CAMBIEN3
LEDTHU4

9 -

U13B
7

CAMBIEN4

LM324

100K

R32

100K
5V

10 +

CAMBIEN6
LEDTHU7

LM324

U12D
14

13 -

5V

5
CAMBIEN5
LEDTHU6

100K
5V

U12C
8
LM324

5V
+

D5

LED

R24
10 +

LEDTHU3

100K

5V
3

D4

LED

100K

CAMBIEN2

LM324

100K

LEDTHU5

D3

LED

5V

5
CAMBIEN1

J10

D2

LED

5V
U12A
1
LM324

2K2

DP

LED7.3

CTHT

R20

RN6

R26

RN4

10
9
8
7
6
5
4
3
2
1

5V

100K

LEDTHU1

LEDTHU8
LEDTHU7
LEDTHU6
LEDTHU5
LEDTHU4
LEDTHU3
LEDTHU2
LEDTHU1

DP

LED7.2

5V

12
11
10
9
8
7
6
5
4
3
2
1

CTHT

5V

2LEDTHU8
3LEDTHU7
4LEDTHU6
5LEDTHU5
6LEDTHU4
7LEDTHU3
8LEDTHU2
9LEDTHU1

A
B
C
D
E
F
G

7447

74151

DP

RN3
1

5V

5V

U4

R18

A
B
C
D
E
F
G

LED7.1

10
9
8
7
6
5
4
3
2
1

74151

ENCODER
C4
30P

P2.0

4
3
2
1
15
14
13
12

D0
D1
D2
D3
D4
D5
D6
D7

330
330
330
330
330
330
330

U10
A 7
B 6 A
C 4 B
D 2 C
E 1 D
F 9 E
G 10 F
G

CAMBIEN8

ROLE1 1
ROLE2 2
ROLE3 3
ROLE4 4
PWM1 5
PWM2 6
PWM3 7
PWM4 8

P2.0
P2.1
P2.2
P2.3
P2.4

R3
R4
R5
R6
R7
R8
R9

U9
A 7
B 6 A
C 4 B
D 2 C
E 1 D
F 9 E
G 10 F
G

CAMBIEN7

DK
DK
DK
DK
DK
DK
DK
DK

21
22
23
24
25

5V

13
12
11
10
9
15
14

A
B
C
D
E
F
G

LT
RBI
BI/RBO

Q4
R13 1K

2
3
4
5
6
7
8
9

5V

ALE

COI BIP

5V
RN2

U3

D0
D1
D2
D3

3
5
4

U8
A 7
B 6
C 4
D 2
E 1
F 9
G 10

CAMBIEN6

5V

30

J3
LA BAN

7
1
2
6

U7
A 7
B 6
C 4
D 2
E 1
F 9
G 10

A
B
C
D
E
F
G

C1815

Q3
R12 1K

9
8
7
6
5
4
3
2

RN5

P2.6/A14

5
4
3
2
1

X2

1k

2
1

27

U6
O0
O1
O2
O3

5V
P2.5
P3.6
P3.7

18

P2.6

R56
330

5V
O7

C1815

O6
Q2

R11 1K

CAMBIEN5

SW DIP-2

R2

19

5V
Q5
Bxxx

11
10
26
16
17

P3.1/TXD
P3.0/RXD
P2.5/A13
P3.6/WR
P3.7/RD

PSEN
P2.7/A15

J2
NAP PHILLIP

CAMBIEN3

RST

29
28

J9

J11

EA

U2
RST

SW2

4
3
2
1

CAMBIEN2

5V

10K

5V

C1815

O5
Q1

R10 1K

CAMBIEN1

R1

5V

C1815

O4

74164

3
8

O3
O2
O1
O0

T
L

C15
+ 1000UF

3
8

3
C14
104

T
L

+ C13
0.33UF

SW1

VOUT

3
8

3W

VI N

T
L

A
B

U15 7805

3
8

R57
1

C1
10UF

1
2

5V
1000UF

T
L

RXD

+ C12

NGUON VXL

CAMBIEN4

DIODE

5V

U13C
8

12 +

CAMBIEN7
LEDTHU8

9 -

LM324

U13D
14

CAMBIEN8

13 -

LM324

LM324

5V
LED DO
ROLE1

M1
IRF540DC1

Q5DC1
Dxxx

ISO2DC1

D11DC1

ISO6DC3

D15DC3

10

IN1
IN2
IN3
IN4
IN5
IN6
IN7
IN8

OUT1
OUT2
OUT3
OUT4
OUT5
OUT6
OUT7
OUT8

COM

GND

Q6DC1
Bxxx

PWM1
ROLE1
PWM2
ROLE2
PWM3
ROLE3
PWM4
ROLE4

18
17
16
15
14
13
12
11

2
3
4
5
6
7
8
9

ISO4DC2

DK PWM2

R46DC2
330 2W

3
D21 DX

1
2
C17DC2
104

CON2

PWM1

F1

J8

12V

M4DC4
IRF540

4
4

PWM4

DC4_DC4

5
6

D25DC4 24V

7
4

DIODE
Q12DC4
Bxxx

D26DC4 12V
DX
8
1

Q11DC4
Dxxx
R52DC4
330 2W

3
DX

1
2
C19DC4
104

CON2

C ROLE4

DK ROLE4
2

C ROLE2
LED

CON2

LS4DC4
RELAY

12V
D12

ISO9DC4

DK ROLE2

OPTO8
D18DC4

LED

DIODE

12V

ISO5DC2

3
DX

ROLE4

LED

D14DC2

R49DC3
330 2W

D29

Q10DC3
B468

1
2
C18DC3
104

D36
1
2

12V

7
4

DIODE

R55
2.2K

DC3_DC3

D23DC3 24V
PWM3

FUSE
J7

8
1
5

24V

NGUON 24
ISO8DC4

NGUON 12
LED

M3DC3
IRF540

Q9DC3
D468

PWM4

D24DC3 12V
DX

LS3DC3
RELAY

12V
D11

PWM3

1
2

D17DC4

7
4

DIODE

PWM2

DK PWM4

DC2_DC2

ROLE3

C PWM4
OPTO7

C PWM2

8
1
5
24V

PWM2

D22DC2 12V
DX

LS2
RELAY
M2DC2
IRF540

Q7DC2
Dxxx

ULN2803

1K

D13DC2

OPTO4

CON2

12V

OPTO1
OPTO2
OPTO3
OPTO4
OPTO5
OPTO6
OPTO7
OPTO8

1K
OPTO3

RN9
2
3
4
5
6
7
8
9

1K

3
DX

12V
D10

LED
1

OPTO1 5V
OPTO2
OPTO3
OPTO4
OPTO5
OPTO6
OPTO7
OPTO8

R43DC1
330 2W

1
2
C16DC1
104

ROLE2

2
2
3
4
5
6
7
8
9

12V

1
2
3
4
5
6
7
8

Q8DC2
Bxxx

RN11

PWM1
ROLE1
PWM2
ROLE2
PWM3
ROLE3
PWM4
ROLE4

C ROLE3

DK ROLE3

LED
RN10
5V

4k7
ISO7DC3

D16DC3
2

C ROLE1

DK ROLE1

OPTO6
ISO3DC1

D12DC1

12V

OPTO2

12V

C
C
C
C
C
C
C
C

2
3
4
5
6
7
8
9

LED

6
7
4

DIODE

1
12V

LED

PWM1

U20CS

DC1_DC1

5
D19DC1 24V

RN8

DK PWM3
2

DK PWM1

8
1

C PWM3
OPTO5

C PWM1
OPTO1

D20DC1 12V
DX

LS1DC1
RELAY

12V
D9

LED

Mch Led do ng:

1
2
3
4
5
6
7
8
9
10
11
12

J1
CON12

LEDTHU8
LEDTHU7
LEDTHU6
LEDTHU5
LEDTHU4
LEDTHU3
LEDTHU2
LEDTHU1

5V LED

5V LED

5V LED

R1
100

5V LED

R2
100

D1

D2

LED

R8
100

D7

LED
PH_R5
33K

5V LED

R7
100

D6

LED
PH_R4
33K

5V LED

R6
100

D5

LED
PH_R3
33K

5V LED

R5
100

D4

LED
PH_R2
33K

5V LED

R4
100

D3

LED
PH_R1
33K

5V LED

R3
100

D8

LED
PH_R6
33K

LED
PH_R7
33K

PH_R8
33K

<-------->
2.5cm

Khoang cach 2 led lien tiep : 2.5 cm, Led c bo tr oi xng.

Trang - 1 -

Ti liu k thut
BKpro http://www.bkpro.info

II.Nguyen ly cac khoi chc nang:

Mach nguyen ly ieu khien ong c:

LOAD

24V

5V

12V

R1
330

12V

12V
R3
330

R2
4K7

D2

RL
D3
DIODE
L1

Q2
D468
M1
IRF540

Q1
ULN2803

DIODE
Q3
B562

R4
220 1W

D1
LED

DK PWM1
PC817

(Chng trnh ieu khien : DONGCO.ASM )

Mach nguyen ly cam bien do ng:
5V
R18

100K

R20
100

5V

LEDTHU1

D4

U12A
1

R19
QUANG TRO

LED

CAMBIEN1

LM324

Mach nguyen ly hien th Led:

U5

10
11
12
13

O4
O5
O6
O7

5V

5V

3
5
4

D0
D1
D2
D3
LT
RBI
BI/RBO

A
B
C
D
E
F
G

13
12
11
10
9
15
14

R3
R4
R5
R6
R7
R8
R9

330
330
330
330
330
330
330

A
B
C
D
E
F
G

Q3

R11 1K

A
B
C
D
E
F
G

8
DP

LED7.1

U8
A 7
B 6
C 4
D 2
E 1
F 9
G 10

Q4

R12 1K

A
B
C
D
E
F
G

8
DP

LED7.2

C1815

U9
A 7
B 6
C 4
D 2
E 1
F 9
G 10

R13 1K

A
B
C
D
E
F
G

3
8

U7
A 7
B 6
C 4
D 2
E 1
F 9
G 10

5V
O7

C1815

Q2

R10 1K

U6
7
1
2
6

5V
O6

C1815

Q1

74164
O0
O1
O2
O3

5V
O5

C1815

8
DP

LED7.3

U10
A 7
B 6 A
C 4 B
D 2 C
E 1 D
F 9 E
G 10 F
G

T
L

5V
O4

3
8

Q4
Q5
Q6
Q7

TXD

T
L

Q3
Q2
Q1
Q0

8
9

3
8

CLK
CLR

T
L

6
5
4
3

A
B

3
8

O3
O2
O1
O0

1
2

T
L

RXD

DP

LED7.4

7447

(Chng trnh : Led.ASM )

Trang - 2 -

Ti liu k thut
BKpro http://www.bkpro.info

Mach nguyen ly oc phm nhan:

RN2

U3

P2.0

5
6

P2.2
P2.3
P2.4

11
10
9
7

Y
Y

D0
D1
D2
D3
D4
D5
D6
D7

4
3
2
1
15
14
13
12

A
B
C

5V

2
3
4
5
6
7
8
9
2K2

5V
SWITCH LIMIT

74151

RN3

U4

P2.1

5
6

P2.2
P2.3
P2.4

11
10
9
7

Y
Y

A
B
C
G

J4
10
9
8
7
6
5
4
3
2
1

D0
D1
D2
D3
D4
D5
D6
D7

4
3
2
1
15
14
13
12

2
3
4
5
6
7
8
9

5V

2K2

J5
10
9
8
7
6
5
4
3
2
1

5V
SWITCH LIMIT

74151

(Chng trnh: NHAP_PHIM.ASM )

III.Giai thuat do ng ket hp Encoder va cam bien do ng:
Quang ng robot chay c xac nh bi bien DEM_VACH (em vach
ngang).
Chia quang ng gia 2 vach lien tiep thanh 2 oan : oan 1 do ng
chay thang nhng khong nhan vach ngang ( chong nhan nham vach
ngang), oan 2 do ng chay thang tm vach ngang co tac dung chong
nhan thieu vach ngang ( neu nhan c vach ngang cho phep hieu chnh
lai encoder giam DEM_VACH ; neu khong nhan c vach ngang khi het
quang ng ,t ong giam DEM_VACH , oan ng tiep theo phai
ngan hn)

Trang - 3 -

Ti liu k thut
BKpro http://www.bkpro.info

Cach chia quang ng gia 2 vach ngang lien tiep (1 o trang 50cm) e
chong nhan nham va nhan thieu vach ngang:

Cach x l cua robot nhng oan ng:

Robot da vao vach ngang e nh v ung toa o v ay la nhng v tr
toa o chuan . Moi lan qua vach ngang ,neu khong xay ra loi cam bien
khong nhan vach ngang th robot quang ng tiep theo c nh v theo
vach va nhan . Neu xay ra loi th quang ng tiep theo van c nh v
theo vach cu trc o ( phai tnh a qua 1 vach ) .

Trang - 4 -

Ti liu k thut
BKpro http://www.bkpro.info

Sau ay la v du cu the chng trnh do ng chay thang qua 4 vach

ngang.
Chng trnh chnh: (chi tiet: DO_DUONG.ASM)

;************** CHUONG_TRINH_CHINH
*************************
CHUONG_TRINH_CHINH:
;--CHAY THANG 3 VACH
CALL
VAN_TOC_CHAM
;1
CALL
CHAY_THANG_TIM_VACH_NGANG
MOV DEM_VACH,#3
CALL
VAN_TOC_MAX
CALL
CHAY_THANG

;3

Chng trnh chnh co 2 cong viec :

CHAY_THANG_TIM_VACH_NGANG e nh v toa o xuat phat ;
CHAY_THANG qua 3 vach ngang .

Trang - 5 -

Ti liu k thut
BKpro http://www.bkpro.info

Lu o giai thuat:

Trang - 6 -