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.