Ultrasonic sensors

on Hip

Ni dung
C s vt l siu m C s thit b siu m Cm bin siu m o khong cch Mt s loi cm bin siu m

C s vt l siu m
Sng m Mi trng truyn sng Tn s, bc sng v tc Tng tc ca siu m Cng Tnh ton suy gim o khong cch

Tn s, bc sng v vn tc
c = f 1 c = . f = = k

khongkhi

343m / s = 0.01 m 40.000 Hz

Tng tc ca siu m
Phn x T n x Khc x Nhiu x Giao thoa S hp th suy gim

Phn x
Tr khng m H s phn x S cu thnh mt phn cch Tn hiu phn x Phn x khuch tn

Tr khng m
Z = .c 1 c= = k

Nu tr khng m ca mt mi trng ging nh trong mi trng khc, m s c truyn t mi trng ny sang mi trng kia. S khc nhau ca tr khng m hai mi trng gy ra hin tng mt phn m thanh b phn x ti mt phn cch

H s phn x

H s phn x
( Z 2 Z1 ) 2 aR = ( Z 2 + Z1 ) 2 ( Z 2 Z1 ) 2 %R = 100 ( Z 2 + Z1 ) 2
u d %R %T

H s truyn qua
aT = 4 Z 2 Z1 ( Z 2 + Z1 ) 2 4 Z 2 Z1 100 ( Z 2 + Z1 ) 2

%T =

S cu thnh mt phn cch

Phn trm phn x khi sng m i t mi trng c tr khng cao sang mi trng c tr khng thp v ngc li l nh nhau. Phn trm phn x t l vi bnh phng hiu tr khng m hai mi trng

Tn hiu phn x
Sng m c th b phn x nhiu ln khi mi trng khng ng nht, hoc i qua nhiu lp phn cch mi trng u d
Mt 2 Mt3

Mi trng 1

Phn x khuch tn

u d

T n x

S tn x hay cn gi l s phn x khng chnh xc. S tn x xy ra do b mt phn cch nh, nh hn vi bc sng Mi mt phn cch hot ng nh mt ngun m mi, v m c phn x theo tt c cc hng.

Ngun m

S tn x do cc phn t nh, c kch thc thng nh hn bc sng gi l tn x Rayleigh. S tn x ph thuc mnh vo tn s theo hm m 2, ti 6.

S hp th

Tn s chm tia Tnh nht v thi gian hi phc ca mi trng

A = A0 exp( .z )
p sut

Tc phn t cc i

u=

S chim ch phn t cc i

p c p s= 2fc

Khong cch

suy gim

A = A0 exp((as + ) z )
H s suy gim

as

h s tn x h s hp th

Cng
Cng thc cng Suy gim cng Cng sut Lp na gi tr (HVL) Decibel v HVL

Cng thc cng

Cng trung bnh

Cng tc thi

pi i= c

p I= 2 c

Suy gim cng

I = I 0 exp( .z )
= 2a

Cng sut
W=cng x din tch

Decibel v HVL

Decibel

Half Value Layer

dy ca vt liu l lm cho yu t kho s st gim i mt na gi gi tr

I ( dB )

I = 10 lg I0

Suy gim, suy hao v phn x

Suy hao = suy gim + phn x

suy hao ( dB )

100 = 10 lg %R

o khong cch
Thi gian 0

z = c.t z t= c

u d Thi gian t Thi gian t

C s thit b siu m

Tn s Cht p in Cu trc u d Tn s lp xung di xung H s u d nhy Ch s Q phn gii dc Di thng

B rng chm tia v phn gii ngang Trng siu m: trng gn, trng xa Bp hng Hi t Thu tn hiu siu m X l tn hiu Di ng Nhiu

S dng tn s no?
V tr bt k ca vt th trong khng gian u c xc nh vi chnh xc 1 bc sng Ngoi tr nhng thit b c bit c th o c bc sng nh vo vic phn bit im p sut cao v im p sut thp Vi ngun m 20 Hz, ch c th xc nh c mt tu sn bay !!!

Robot, di v thit b y t

c = f
343m / s = 6.8mm 50,000 Hz 1540m / s cavoi = = 1.54cm 100,000 Hz 343m / s doi = = 3.4mm 100,000 Hz

Robot,

f = 30 KHz 80 KHz

robot =

Di,c voi, chut chi, chu chu

f = 100 KHz

Thit b y t,

f = 1 MHz 50 MHz

Cht p in

Pierre v Marie Curie tm ra hiu ng p i n Hiu ng ny thng thy cc vt liu kt tinh c hai cc mi phn t thay i tn s u d, phi thay i bn thn u d Mt u d tn s cao, to ra bc sng ngn c mt tinh th mng v bng phng Mt s vt liu dng lm u d: PZT, Bari ch titan, Bari ch ziriconi, ch metaniobat, sulphat lithi

S sp xp ngu nhin
Phn t lng cc

_
+
+ -

+ -

Np ngc
in cc sp xp
+ + + + + + + + + + + + ++ + ++ + + + + + + + + + + + + + + + + + + + ++ + ++ + + + + + + + -

+
in cc kch thch

dy tinh th

cluongcuc = 4000m / s

Cm bin siu m o khong cch

Nguyn l TOF Sai s v hiu chnh cm bin Tnh ton gc t cm bin Cm bin siu m Polaroid

Cu to iu khin

Nguyn l TOF
Thi gian 0

z = c.t z t= c

u d Thi gian t Thi gian t

S nguyn l TOF
Transducer
Transmitted waveform

Target

Amplified echo Received Echo

Transmit Waveform Generator

Receiver Amplifier

Threshold Circuit

Time of transmition

TIMER

Time of reception

Sng siu m c to ra - 88-16 dao dao ng - Tn s 40 KHz Bt u t tnh thi gian u thu cha c c Tn hiu v c khuych i theo h hm m ca thi gian Mt mch chn ch gi gi tr tn hiu c khuych i B nh th th dng Qung ng s sng i c bng hai ln khong c cch t cm bin n vt

Time of flight

Sai s v hiu chnh cm bin

Sai lch thng tin

b a

S a l i
Giao nhiu cm bin Khng giao vi cm bin khc

Giao hai cm bin

B tr cm bin
2
Khng tt

Tt

1 > 2

n nh hn

Tnh ton gc t cm bin

22.5 [cm] 180 10 10 Len( ) = + [cm] sin( ) tan( ) Arc(d ) = d

10 [cm]

10 sin( )

10 tan( )

10 [cm]

22.5 392[cm] 180 10 10 Len(30) = + 37.3[cm] sin(30) tan(30) Arc(1000) = 1000cm

Len(30) 1 < Arc(1000cm) 10

Crosstalk

Cm bin siu m Polaroid

C u t o
u d Bp hng Mch iu khin

iu khin
PIC 16F877

u d 6500 v 7000

Bp hng

Mch iu khin

SN28784

TL851

iu khin cm bin o khong cch, ging vi SN28827 Hot ng vi 1 ngun cp 4 bit iu khin ng ra ng b Mc p ni 1.2 V cho b thu Tng thch TTL

Bng ng ra iu khin
Step number 0 1 2 3 4 5 6 7 8 9 10 11 GCD GCC GCB GCA Time (ms) From Initiate 2.38 5.12 7.87 10.61 13.35 16.09 18.84 21.58 27.07 32.55 38.04 INIT

L L L L L L L L H H H H

L L L L H H H H L L L L

L L H H L L H H L L H H

L H L H L H L H L H L H

S nguyn l

Dng sng iu khin

iu khin bng P16F877

Vn tc sng m trong khng kh

343m 343 x10 9 m = s ns

Chu k my ca P16F877 Gii hn o nh nht

200ns

343 x10 9 m x 200ns = 68.6 x10 6 m = 68.6 m ns 68.6 m = 34.3m 2

Khong cch o xa nht (nu dng 2 byte counter)

65535 counter x 34.3m = 2247850 m = 2.25m

iu khin bng P16F877

Mt s loi cm bin siu m

Polaroid series SRFxx Massa E-220B URSxx RPS x00-x PVC

Ti liu tham kho

NGUYN C THUN, NGUYN V SN, TRN ANH V, C s k thut siu m, NXB Khoa hc v k thut, 2003. www.acroname.com/robotics/parts/R116500.html BRIAN EVANLEGISTA, ANTONY GRANT, JAMES QUESENBERRY, MATTHEWS MOLINETS, Final report on Intelligent Automotive Obstacle Detection System, Michigan State University, 2001. J. BORENSTEIN, H. R. EVERETT, and L. FENG, Where am I? Sensors and Methods for Mobile Robot Positioning, Technical report, Michigan University, 1996.

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