NHN DNG V PHN LOI SAN

PHM THEO MU SC DUNG CAM

BIN TCS3200

GVHD :TS. NGUYN VN MINH TRI

SVTH : - Mai Dng Hiu
- Trn Nguyn Yn Nhi
-Trnh Quang Duy
 CHNG 1:TNG QUAN M HNH

S cu trc chung h thng

 CHNG 2:CC LINH KIN

Vi iu khin Arduino
 Cm bin mu TCS3200
Cu tao cm bin TCS3200 gm 2 khi
 ng c Servo
 Quang tr
 CHNG 3: TNH TON GHP NI
Tinh thi gian ly mu.
ti a hoa lng d liu thu thp, ta dung phng phap period-
measurement, ly d liu vi tn s gp i tn s u ra hoc c 1
micro giy mt ln vi u ra la full-scale. Nu thc hin phng phap
nay thi chu ky ly mu se la 1 micro giy,thng c ap dung khi mun
tinh toan nhanh nhiu di anh sang hoc mt ngun anh sang c nh.
Bn canh o ti a hoa phn gii cung nh chinh xac, mt phng
phap khac c s dung la frequency-measurement, pulse-accumulation,
or integration techniques. Phng phap nay rt hay c s dung khi
mun co kt qu chinh xac trong mt khong thi gian ngn cho trc.
Chinh vi vy nhom a quyt nh thc hin ky thut th 2 vi s tr giup
cua ham PulseIn co sn trong Arduino.
Tinh b loc s

Cht lng cua vic nhn dang phu thuc kha nhiu vao chng trinh oc
cm bin va thc hin b loc s.
chon b loc FIR vi lun n nh, d dang cai t .Trong khi sn phm con
trong vung nhn dang se chi lin tuc ly d liu va cng dn. Sau o se
thc hin phep chia trung binh cho ra kt qu cui cung.
Cac thng s cua m hinh :
Vn tc trung binh cua sn phm trn bng chuyn la 7,48 cm/s
Vung nhn dang co kich thc 2.5cmx2.5cm.
Sn phm hay vt th nhn dang co kich thc 3.5cmx3.5cm
=>thi gian vung nhn dang phu kin vt th (thi gian ti a nhn dang
mau sc sn phm ):
 Tinh toan thi gian nhn dang mau sc sn phm:
Thi gian k t luc sn phm che khut tia laser cho n khi gy ra ngt trong
vi iu khin: 30ms.
Thi gian u ra ap ng khi iu khin thay i b loc mau: 100ns
Thi gian ti a tr v khi goi ham PulseIn cung la chu ky ti a cua xung u
ra la 120us.
Goi N la s mu cn thc hin b loc FIR
Thi gian nhn dang mt sn phm la:
2=30+3(100+120) 30+360 =30+0.36
Ta co 12277
 Tinh thi gian x ly cng vic truyn thng Modbus khi co li goi t Master:
Thi gian truyn mt byte ky t thng qua chun UART la khong 10s/baudrate.
(http://forum.arduino.cc/index.php?topic=76359.0)
Vi trong tai nhom gi d liu mi 2 byte nn s byte d liu cua mt khung truyn la
1byte a chi + 1 byte ham + 2 byte d liu + 2 byte CRC = 6 byte.

Gi s thi gian nhn d liu, kim tra li va x ly bng vi thi gian truyn
Tng thi gian cho cng vic giao tip Modbus la khong 13ms
N=252
Th vi N = 50, 100 va 200. Nhom nhn thy kt qu khi N = 100 va 200 la tt tng ng
nhau. Cui cung nhom a chon b loc vi N = 100
 S nguyn ly mach
Mach ngun
S dung ngun t ong 12V-10A cung cp cho ng c va ng c servo qua module
buck, adapter 5V 2.5A cung cp ngun cho mach arduino
Mach iu khin

Ghep ni lp rp
M hinh c lp rap theo th t:
-Lp bng chuyn va ng c DC.
-Lp ng c servo va cam bin.
-Lp cam bin mau va khung chng nhiu.
-Lp mach va cm dy.
-Kim tra, cp ngun va chay th.
 CHNG 4 : LP TRINH

Lp trinh cho Nano 1

1.Chc nng
- m nhn nhim vu nhn dang mau sc cua sn phm.
- Truyn kt qu nhn dang sang Nano I2C Slave.
- Giao tip vi may tinh vi vai tro la Slave thng qua chun Modbus/RS485.
2. Thut ton
 Lp trinh cho Nano 2
1. Chc nng
- Nhn thng tin t I2C master, phn tich lu tr thanh mng.
- Quet cac chn I/O tin hanh phn loai sn phm vao mang.
2. Thut ton
 Lp trinh C#.
1. Chc nng
* thu thp d liu qua chun modbus.
* lu tr trong database va hin th qua giao din n gin.
2. Thut ton