GVHD: Nguyn Kim Suyn

o khong cch dng SRF-05

NHN XT CA GIO VIN HNG DN

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TPHCM, Ngy 07 Thng 10 Nm 2015.

Ch k ca gio vin hng dn

GVHD: Nguyn Kim Suyn

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GVHD: Nguyn Kim Suyn

o khong cch dng SRF-05

LI CM N

i u tin nhm xin chn thnh cm thy Nguyn Kim Suyn ngi trc tip

hng dn v ch bo ht sc tn tnh cho nhm hon thnh ti Mch o

khong cch dng cm bin siu m . Nhm cng xin gi li cm n ti tt c cc bn

b trong lp cng h tr nhm hon thnh ti ny.
V thi gian c hn cng vi kin thc hn ch nn sn phm ca nhm s khng trnh
khi sai st.
Vi mong mun hc hi, nhm rt mong nhn c s gp ca cc thy c gio ch
bo, hng dn thm rt kinh nghim ln sau.
hm xin chn thnh cm n.

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GVHD: Nguyn Kim Suyn

o khong cch dng SRF-05

LI NI U
Ngy nay khoa hc cng ngh ngy cng pht trin, vi iu khin AVR v vi iu khin
PIC ngy cng thng dng v hon thin hn, nhng c th ni s xut hin ca Arduino
vo nm 2005 ti Italia m ra mt hng i mi cho vi iu khin. S xut hin ca
Arduino h tr cho con ngi rt nhiu trong lp trnh v thit k, nht l i vi nhng
ngi bt u tm ti v vi iu khin m khng c qu nhiu kin thc, hiu bit su sc
v vt l v in t. Phn cng ca thit b c tch hp nhiu chc nng c bn v l
m ngun m. Ngn ng lp trnh trn nn Java li v cng d s dng tng thch vi
ngn ng C v h th vin rt phong ph v c chia s min ph. Chnh v nhng l do
nh vy nn Arduino hin ang dn ph bin v c pht trin ngy cng mnh m trn
ton th gii. Trn c s kin thc hc trong mn hc : vi iu khin cng vi nhng
hiu bit v cc thit b in t, nhm chn ti: o Khong Cch Bng Sng Siu
m vi mc ch tm hiu thm v Arduino, lm quen vi cc thit b in t,cch lp
trnh giao tip vi my tnh v nng cao hiu bit cho bn thn. Do kin thc cn hn hp,
thm vo y l ln u em thc hin n nn chc chn khng trnh khi nhng thiu
st, hn ch v th nhm rt mong c c s gp v nhc nh t thy gio c th hon
thin ti ca mnh.
Em xin chn thnh cm n thy gio Nguyn Kim Xuyn gip nhm rt nhiu trong
qu trnh tm hiu, thit k v hon thnh ti n 1 ny.

TP HCM, ngy 07 thng 10 nm 2015

Sinh vin thc hin
Nhm 6

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o khong cch dng SRF-05

Mc lc
Nhn xt ca gio vin hng dn ........................................................................ 1
Li cm n .............................................................................................................. 2
Li ni u .............................................................................................................. 3
A. Gii thiu cc module s dng trong mch
I.Gii thiu cm bin siu m SRF-05 .................................................................. 4
II.Gii thiu module Arduino Nano ..................................................................... 8
III.Gii thiu LCD 16x02....................................................................................... 13
B.Thit k v thi cng mch
I. Mch m phng ................................................................................................... 15
II. Mch nguyn l .................................................................................................. 16
III. Mch layout ...................................................................................................... 17
IV. M code ............................................................................................................. 18
V. Kt lun v hng pht trin ........................................................................... 20
Ti liu tham kho .................................................................................................. 21

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GVHD: Nguyn Kim Suyn

o khong cch dng SRF-05

A. Gii thiu cc module s dng

I. Gii thiu module HC-SR05:
- HC-SR05 l module cm bin siu m dng o khong cch bng sng siu m.
Sng siu m l sng m thanh thuc nhm sng c hc vi tc lan truyn trong khng
kh khng cao, li dng iu ny m ngi ta c th o t khong cch da trn sng ny.
Nguyn l nh sau, u tin my s pht i mt chm sng siu m, khi lan truyn nu gp
c vt cn sng s di v my thu, t thi gian pht i v nhn v ca chm sng ny
ngi

ta

tnh

khong

cch

ca

vt

cn.

Hnh nh module HC-SR05 :

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o khong cch dng SRF-05

C th hn v HC-SR05 :
Cm bin siu m SRF-05 c pht trin ln t SRF-04 nn hot ng ca

chng gn nh ging nhau.

Cm bin khong cch siu m HC-SR05 c s dng rt ph bin xc

nh khong cch v r v chnh xc. Cm bin s dng sng siu m v c th

o khong cch trong khong t 2 -> 300 cm, vi chnh xc gn nh ch ph
thuc vo cch lp trnh.
-

S chn ca HC-SR05 gm: VCC, trig, echo, out, GND.

Trong :
+ VCC pin 5V Arduino.
+ trig chn digital (OUTPUT), y l chn s pht tn hiu t cm bin.
+ echo chn digital (INPUT), y l chn s nhn li tn hiu c phn x
t vt cn.
+ Out khi ni mass th lc ny chn trig v chn echo s hot ng trn cng
1 chn, khi b trng th chn trig v echo s hot ng ring bit nh SRF 04.
GND GND Arduino.

Nguyn l hot ng :
MODE 1: 2 chn trig v echo hot ng ring bit

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o khong cch dng SRF-05

Nguyn l hot ng:

Module hot ng rt n gin, nh hnh bn trn bn cn mt chn IO vi chc
nng output (Trigger) kch hot module m mt chn input (echo) o thi gian xung
nhn v i din cho khong cch.
Cc bc kch hot v o nh sau:
+ u tin chn Trigger bn pht 1 xung mc cao c rng ti thiu l 10us cho module.
+ Bc tip theo module s tr v cho bn mt xung mc cao c rng xung bng vi
thi gian sng siu m truyn t module n vt cn v t vt cn v module.
+ T thi gian thu c t xung echo bn trn ta suy ra khong cch vt cn da trn cng
thc sau :
Distance (mm) = (Measured Echo Time*344)*1000/2
Trong :- Measured Echo Time l thi gian o xung mc cao t chn echo, n
v l s.
- 344 l vn tc m thanh lan truyn trong khng kh
- 1000 l h s nhn a khong cch o c v n v mm.
- 2 l h s chia do ch ly qung ng o c tc l ch t vt cn o
n module.

S kt ni phn cng :

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o khong cch dng SRF-05

MODE 2: Chn trig v echo cng hot ng trn 1 chn.

Nguyn l hot ng:

ch ny, mt chn ca vi x l s iu khin qu trnh pht xung ca cm bin
siu m v vic c tn hiu tr v. Yu cu lc chn MODE cn c ni t (GND).
u tin xut mt xung vi rng ti thiu 10uS vo chn TRIGGER-ECHO (chn s
3) ca cm bin. Sau vi x l tch hp trn cm bin s pht ra tn hiu iu khin u
pht siu m. Sau 700uS k t lc kt thc tn hiu iu khin, t chn TRIGGER-ECHO
c th c ra mt xung m rng t l vi khong cch t cm bin ti vt th.

II. Gii thiu Arduino Nano :

iu u tin chng mnh mun chia s vi cc bn khi tip xc vi Arduino
Nano, l s tin dng, n gin, c th lp trnh trc tip bng my tnh
(nh Arduino Uno R3) v c bit hn c l kch thc ca n.

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o khong cch dng SRF-05

Kch thc ca Arduino Nano cc k nh ch tng ng ng 2 nghn gp

li 2 ln thi (1.85cm x 4.3cm), rt thch hp cho cc newbie, v gi r hn
Arduino Uno nhng dng c tt c cc th vit ca mch ny.
Hm nay, t vit bi ny nhm mc ch gii thiu v mch Arduino Nano v
cc thng s k thut, cng vi l nhng gi ng dng khi bt u vi mch
ny.

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o khong cch dng SRF-05

Mt vi thng s ca Arduino UNO R3 :

Cc thng s k thut ca Arduino Nano hu nh ging hon Arduino Uno R3, v

vy cc th vin trn Arduino Uno u hot ng tt trn Arduino Nano. Tuy nhin, Nano
c mt li th cc k quan trng, nh Arduino Nano c ng dng rt nhiu trong
cc d n DIY, chnh l kch hc ca n. ng thi Nano cn s lng chn Analog
nhiu hn Uno (2 chn A6, A7 ch dng c) cng vi dng ra ti a ca mi chn IO
ln n 40mA. Nhng, c mt im tr nh cho Nano, l mch ny Nano cn n 2KB
b nh cho bootloader ( Uno l 0.5KB). Tuy nhin bn cn n tn 30KB b nh flash
lp trnh, dng ht c 30KB ny l c "mt vn lp trnh" .
Cng kt ni vi Arduino Nano :
- Khc vi Arduino Nano s dng cng USB Type B, Nano li s dng mt cng nh
hn c tn l mini USB.

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o khong cch dng SRF-05

V s dng cng ny nn kch thc board (v chiu cao) cng gim i kh nhiu, ngoi
ra bn c th lp trnh thng trc tip cho Nano t my tnh - iu ny to nhiu in thun
li cho newbie.
Lp trnh cho Arduno Nano :
-

Cng tng t nh bn Arduino Uno R3, Arduino Nano s dng chng trnh
Arduino IDE lp trnh, v ngn ng lp trnh cho Arduino cng tn l
Arduino (c xy dng trn ngn ng C). Tuy nhin, nu mun lp trnh cho
Arduino Nano, bn cn phi thc hin mt s thao tc trn my tnh. Sau y
l cc bc hng dn c th lp trnh cho Arduino Nano :

1. u tin, bn cn ci Driver ca Arduino Nano v ti v bn Arduino IDE mi

nht cho my tnh, cc bc ci t hon ton tng t nh Arduino Uno R3, bn
c th tham kho http://arduino.vn/. Sau khi ci t, bn s thy mt thng bo
dng "Cng COMx c ci t thnh cng" (ch "x" ny s c thay bng
mt s nguyn dng, bn hy nh ly s ny, v sau ny bn s dng cng COMx
ny lp trnh cho Arduino Nano).
2. Sau , bn cn li loi board v cng Serial mi nh hnh sau l c. Lu ,
cng COM trong hnh di y l ch l hnh minh ha trong my tnh ca mnh
thi nh.

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III. Gii thiu module LCD 16x02

Ngy nay, thit b hin th LCD (Liquid Crystal Display) c s dng trong rt
nhiu cc ng dng ca VK. LCD c rt nhiu u im so vi cc dng hin th khc: N
c kh nng hin th k t a dng, trc quan (ch, s v k t ha), d dng a vo
mch ng dng theo nhiu giao thc giao tip khc nhau, tn rt t ti nguyn h thng v
gi thnh r

Chc nng cc chn ca LCD 16x02:

Chn K
hiu
1
Vss
2

VDD

3
4

VEE
RS

M t
Chn ni t cho LCD, khi thit k mch ta ni chn ny vi GND
ca mch iu khin
Chn cp ngun cho LCD, khi thit k mch ta ni chn ny vi
VCC=5V ca mch iu khin
iu chnh tng phn ca LCD.
Chn chn thanh ghi (Register select). Ni chn RS vi logic 0
(GND) hoc logic 1 (VCC) chn thanh ghi.
+ Logic 0: Bus DB0-DB7 s ni vi thanh ghi lnh IR ca LCD
( ch ghi - write) hoc ni vi b m a ch ca LCD (
ch c - read)

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o khong cch dng SRF-05

15

+ Logic 1: Bus DB0-DB7 s ni vi thanh ghi d liu DR bn

trong LCD.
R/W
Chn chn ch c/ghi (Read/Write). Ni chn R/W vi logic
0 LCD hot ng ch ghi, hoc ni vi logic 1 LCD
ch c.
E
Chn cho php (Enable). Sau khi cc tn hiu c t ln bus
DB0-DB7, cc lnh ch c chp nhn khi c 1 xung cho php
ca chn E.
+ ch ghi: D liu bus s c LCD chuyn vo(chp nhn)
thanh ghi bn trong n khi pht hin mt xung (high-to-low
transition) ca tn hiu chn E.
+ ch c: D liu s c LCD xut ra DB0-DB7 khi pht
hin cnh ln (low-to-high transition) chn E v c LCD gi
bus n khi no chn E xung mc thp.
DB0 - Tm ng ca bus d liu dng trao i thng tin vi MPU.
DB7
C 2 ch s dng 8 ng bus ny :
+ Ch 8 bit : D liu c truyn trn c 8 ng, vi bit MSB
l bit DB7.
+ Ch 4 bit : D liu c truyn trn 4 ng t DB4 ti DB7,
bit MSB l DB7
Ngun dng cho n nn

16

7 - 14

GND cho n nn

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o khong cch dng SRF-05

B. Thit k v thi cng mch

I. Mch m phng:

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II. Mch nguyn l :

III. Mch layout

5. Nguyn l hot ng :

Khi bt u th vk s pht 1 xung vo pin Trigger c rng l 10us

Sau khi c xung kch vo chn Trigger th cc pht ca cm bin s pht ra 8 xung
ca sng m thanh ( v= 340m/s)
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o khong cch dng SRF-05

Ngay sau pin Echo vdk s ko ln cao v i sng m thanh phn x li. khi
gp sng phn x th pin Echo s c ko xung thp. Nh vy, thi gian pin Echo
mc cao s chnh l thi gian sng m thanh i v v trn qung ng t cm
bin ti vt cn. chng ta s dng timer m khong thi gian ny.

Kt qu tr v s c hin th ln LCD v cnh bo bng 2 led n. Nu khong

cch <= 20cm th led v lcd s nhy lin tc, nu khong cch > 20cm th led
xanh s nhy.

IV. Code cho HC- SR05:

const int trig = 7;// khai bo chn pht xung
const int echo = 8;// chn nhn xung
#include <LiquidCrystal.h>// khai bo th vin lcd
LiquidCrystal lcd(12, 11, 5, 4, 3, 2);// cc chn lcd s dng
unsigned long duration;
int distance;
int kcach();
void setup()
{
lcd.begin(16, 2);// khi to lcd lcd.begin(9600);
pinMode(trig,OUTPUT);
pinMode(echo,INPUT);
pinMode(13, OUTPUT);// chn ng ra led
pinMode(6, OUTPUT);// chn ng ra led
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}
void loop()
{
digitalWrite(trig,0);// tt chn trig
delayMicroseconds(2);
digitalWrite(trig,1);// pht xung t chn trig
delayMicroseconds(5);// xung c di 5 microSeconds
digitalWrite(trig,0); // tt chn trig
duration = pulseIn(echo,HIGH);//o rng xung HIGH chn echo.
distance = int(duration/2/29.412);//tnh khong cch n vt.
if (distance<=20)
{
lcd.setCursor(0,0); // v tr xut ra lcd
lcd.print("warning!!!!");// xut ch warning
lcd.setCursor(0,1);
lcd.println("kcach < =20cm");
digitalWrite(13, HIGH); // bt led
delay(100);

// thi gian delay

digitalWrite(13, LOW); // bt led

delay(100);
lcd.clear();// xa hm hin th
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}
else
{
lcd.setCursor(0,0);
lcd.print("khoang cach do :");
lcd.setCursor(5,1);
lcd.print(distance);
lcd.println("cm");
digitalWrite(6, HIGH); // bt led
delay(500);
digitalWrite(6, LOW); // bt led
delay(500);

}
delay(200);
}

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o khong cch dng SRF-05

PHN V: KT LUN V HNG PHT TRIN

Trong thi gian thc hin ti nhm t c nhng kt

qu sau:
- Hc hi c nhiu hn v c thm nhiu kin thc.
-Bit cch lp trnh phn cng.
Hng pht trin
-Ch to robot d ng
- Ch to cng c gip ngi m

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o khong cch dng SRF-05

Ti liu tham kho

http://arduino.vn/bai-viet/273-arduino-nano-nho-tien-loi-mang-tren-minh-tinh-hoa-cuaarduino-uno
http://www.dientu4u.com/news/946/Cam-bien-sieu-am-SRF05.html

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