Sensor

  • November 2019
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Giíi thiÖu vÒ Sensor b¾t ®­êng TS NguyÔn Hång Quang, Bé m«n Tù ®éng hãa, §HBK Hµ néi

Néi dung • Nguyªn lý lµm viÖc c¶m biÕn (sensor) hång ngo¹i (infrared LED receiver/emiter) • Ph­¬ng ph¸p dïng c¶m biÕn trong Robot dß ®­êng • Mua g×, ë ®©u ? • C¸c lo¹i sensor b¾t ®­êng kh¸c ?

Nguyªn lý c¶m biÕn hång ngo¹i • C¶m biÕn hång ngo¹i gåm mét cÆp – §Ìn LED ph¸t (infrared emmiter) – Transistor thu (infrared phototransistor )

Nguyªn lý chung • C­êng ®é ph¸t cµng lín th× dßng ®iÖn ch¹y qua bãng thu cµng lín • Theo s¬ ®å nèi trong m¹ch th× ®iÖn ¸p r¬i trªn ®iÖn trë treo cao cµng lín

øng dông trong robot dß ®­êng C¸c mµu s¾c kh¸c nhau th× ®é ph¶n x¹ hång ngo¹i kh¸c nhau, dÉn tíi ®iÖn ¸p ra trªn bãng thu kh¸c nhau

M¹ch c¬ b¶n Nh­îc ®iÓm: Nh¹y c¶m víi nhiÔu - ¸nh s¸ng tù nhiªn - ¸nh s¸ng ®Ìn HiÕm khi sö dông trong thùc tÕ

C¸c khèi chÝnh trong m¹ch thùc tÕ M¹ch ph¸t (dïng bãng ph¸t ) xung víi tÇn sè x¸c ®Þnh

M¹ch thu (dïng bãng thu) tÝn hiÖu

M¹ch läc tÝn hiÖu

M¹ch so s¸nh t¹o ng­ ìng

M¹ch ph¸t tÝn hiÖu +5v

R41

R42 1k

8

1

R6 5.6k

R7 5.6k

1.661V

3.3 2V

2

D1

1.6 1V

2 4 5 6 7

C4 0.1uf

C3 10n

POT A

§ièt ph¸t hång ngo¹i

U10

VCC TRIGGER RESET OUTPUT CONTROL THRESHOLD DISCHARGE GND 1 555B

0

3

R12 Q1 10k 677.8mV

D613

M¹ch thu tÝn hiÖu +5v +5v 4 V+

2

-

1

OUT

12

LM324

U13D 13

11

R24 1k

0

1k +

OUT

11

0 R25

-

0

0 R26 1k

R29

V+

U13A

1uf

4

R31

+

V-

3 C10

V-

R23 1k

+5v

+5v

R30

14

D4 1k

1k

LM324 C11 4.7uf

Q4

10k +5v

0

LED

Q2SC829 R27

0

10k R28 10k

0

0

M¹ch thu tÝn hiÖu dïng bãng thu chuyªn dông Sharp GP1U5 (G1U52X) module

VÝ dô c¶m biÕn ph¶n x¹

L­u ý khi chØnh m¹ch • Gi¸ trÞ ®iÖn trë R ph¶i phï hîp, th­êng ®iÖn trë ph¸t kho¶ng 1K, ®iÖn trë thu kho¶ng 100K • KiÓm tra thö víi vËt liÖu thi, ®Ó t×m ra ®iÓm ®iÖn ¸p lµm viÖc • KiÓm tra víi c¸c chÕ ®é ¸nh s¸ng kh¸c nhau ®Ó thö ®é nhËy cña m¹ch • Bäc kÝn c¸c sensor ®Ó h¹n chÕ tèi ®a lo¹i nhiÔu ¸nh

Ph­¬ng ph¸p dïng c¶m biÕn trong Robot dß ®­êng • Bè trÝ vÞ trÝ c¶m biÕn • Tèi thiÓu 2 c¶m biÕn ®Æt t¹i 2 mÐp ®Ó cã thÓ b¸m theo ®­êng th¼ng • VÞ trÝ c¶m biÕn t­ ¬ng øng víi yªu cÇu bµi to¸n vµ tèc ®é cña xe • ThuËt to¸n on-off

Ph­¬ng ph¸p dïng c¶m biÕn trong Robot dß ®­êng

§Þa ®iÓm mua §Ìn LED thu ph¸t

• Hµ néi – Chî ®iÖn tö, TrÇn Cao V©n (sè 8) – 76 Hµng Trèng

• §µi truyÒn h×nh ViÖt nam, Robotcon

C¸c lo¹i c¶m biÕn mÇu kh¸c C¶m biÕn mÇu do c¸c h·ng ®iÖn tö chÕ t¹o Cho phÐp ph©n biÖt chÝnh x¸c nhiÒu lo¹i mµu kh¸c nhau §é æn ®Þnh cao Gi¸ thµnh cao VÝ dô: E3S-VS   Color Mark Sensor, cña h·ng Omron

C¸c lo¹i c¶m biÕn kh¸c • Camera (WebCam) dïng t¹i m¸y PC ®Ó bµn • Camera chuyªn dông – http://www.cs.cmu.edu/~cmucam

TÝnh n¨ng

Tµi liÖu tham kh¶o • http://www.google.com – Keywork: “line following robot” , “IR sensor”

• http://www.commlinx .com.au/~schematics • http://www.ee.washington.edu/con selec/Sp96/projects/mitchrob/final/f inal.htm

KÕt luËn • Nguyªn lý c¬ b¶n m¹ch b¾t ®­êng dïng c¶m biÕn hång ngo¹i • §Þa ®iÓm mua • Liªn hÖ víi VTV2/robotcon ®Ó tr¶ lêi c¸c c©u hái liªn quan

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