THIT K MODULE SENSOR D LINE DNG QUANG TR Ging vin hng dn: Th.

S L Tn Cng I- CC TI C LIN QUAN: - Thit k module sensor d line cho robocon dng chip sensor chuyn dng S7136. - Thit k module sensor d line cho robocon dng adc v thit k b lc nhiu tn hiu trn vi iu khin. - Sensor d line cho xe MCR. - Thit k robot d ng n gin Line Following Robot. II- NHIM V N: - Tm hiu phn cng ca vi iu khin ATMEGA8. - Tm hiu b chuyn i ADC ca vi iu khin ATMEGA8. - Nghin cu nguyn l cu to v hot ng ca module sensor. - Nghin cu v ng dng phn mm bin dch CodeVision AVR. Dng phn mm AvrProg np chip. - Lp trnh th cho sensor board nhn bit Line v xut tn hiu iu khin Leds. III-C S L THUYT: 1. Vi iu khin ATMEGA8: S chn:

Nhng tnh nng chnh: - B nh: 8K Bytes Flash, 1K Bytes SRAM, 512 Bytes EEPROM. - 23 thanh ghi I/O. - 2 b nh thi Timer/Counter 8bit, 1 b nh thi Timer/Counter 16bit. - B nh thi Watch Dog Timer. - B dao ng ni RC. - ADC 8 knh vi phn gii 10bit, 8bit. - 3 knh PWM.

- B so snh tng t c th la chn ng vo. - Khi truyn nhn ni tip SPI. - KHi giao tip ni tip 2 dy TWI. - H tr Boot Loader. - Tn s ti a 16MHz. - v.v Cu trc: (xem thm trong file bo co). B chuyn i ADC: - Trong cc ng dng o lng v iu khin bng vi iu khin b chuyn i tng t - s (ADC) l mt thnh phn rt quan trng. D liu trong th gii ca chng ta l cc d liu tng t (Analog). Trong khi , r rng vi iu khin l mt thit b s (Digital), cc gi tr m mt vi iu khin c th thao tc l cc con s ri rc v thc cht chng c to thnh t s kt hp ca hai mc 0 v 1. - Ni cch khc, chng ta s ha (digitalize) mt d liu Analog thnh mt d liu Digital. Qu trnh s ha ny thng c thc hin bi mt thit b gi l b chuyn i tng t - s hay n gin l ADC (Analog to Digital Converter). 2. Quang tr:

- Quang tr l in tr m hot ng ca n da trn hiu ng quang dn. - Cu to: Quang tr c lm t cht bn dn nhy quang (c th l Cadmium Sulfide CdS, Cadmium Selenide CdSe). - Nguyn l lm vic ca quang tr l khi c bc x chiu vo, cht bn dn hp th nng lng lm pht sinh cc in t t do v l trng, tc s dn

in tng ln v lm gim in tr ca cht bn dn. Cc c tnh in v nhy ca quang tr d nhin ty thuc vo vt liu dng trong ch to. 3. Nguyn l hot ng ca board sensor: - Phn pht dng 8 con led siu sng, phn thu l 8 quang tr theo tng cp b tr mt sau ca board nh hnh:

- Led siu sng chiu nh sng xung Line v phn x ngc tr li quang tr tng ng. Nu Line l Line trng th nh sng phn x li quang tr vi cng mnh hn, ng vi mc Logic 1.

 Nu Line l Line en th nh sng gn nh b hp th v phn x li quang tr rt t, ng vi mc Logic 0.

- Cng nh sng hp th vo quang tr c th c chnh bng bin tr chnh (gn mt trn ca board sensor). Bng vic chnh bin tr ng vi tng cp Led pht quang tr ta chnh c nhy ca quang tr. - Cn lu vn chng nhiu cho sensor, phi che chn cho cc quang tr v leds pht. S nguyn l:

IV-KT QU T C: - Hiu nguyn l board sensor. - Module c kh nng d c line.

- Xut tn hiu iu khin cc thit b ngoi vi khc nh leds, ng c - nhy tt. sensor board

mainboard:

module sensor:

video: http://www.youtube.com/watch?v=Sq9xYv3cSe0

V-HNG PHT TRIN: Kt hp vi cc modulde, thit b khc dng trong cc ng dng d line nh robocon, xe mcr.