![α’β-α’ αααααΉαα αΈααΆαααααα
α’-α’-α‘ββ αααα Hardware
ο΄ α ULTRASONIC SENSOR
ο΄ Ultrasonic sensors [7] (also known as transceivers when they both send and receive, but more
generally called transducers) work on a principle similar to radar or sonar which evaluate attributes
of a target by interpreting the echoes from radio or sound waves respectively. Ultrasonic sensors
generate high frequency sound waves and evaluate the echo which is received back by the sensor.
Sensors calculate the time interval between sending the signal and receiving the echo to determine
the distance to an object.
ο΄ Systems typically use a transducer which generates sound waves in the ultrasonic range, above
18,000 hertz, by turning electrical energy into sound, then upon receiving the echo turn the sound
waves into electrical energy which can be measured and displayed.](https://image.slidesharecdn.com/random-161210121841/85/ultrasonic-radar-robot-7-320.jpg)
ultrasonic radar robot
- 1. αα·ααααΆααααΆ αααΆαα·αα α»αα αα ααα αααααααααα»ααΆ National Polytechnic Institute of Cambodia αα·α αα ααΆαααααΆαααααΆαββββ βα’αα»αααααΆααΌ αα·α ααααΆ ααΆ αααΆαΌααΌαβ Ultrasonic Radar Robot αααααΌααΉαααΆα ααΉαββαααααα αααα α»αααΈα₯ ααΆαβααα»αααα αααΆ αα ααΈααΈ αααα α ααα»ααααααα ααα αΆαα·ααααΆαααα ααα‘α·α ααααΌαα·α Faculty of Electronic
- 2. ααΆαα·ααΆ α‘βαααααΈααααΎα α‘.α‘αααααΆααα α‘.α’β αααααΆαααα α’βααΆαααΌαααΆαααααααΏαααα ααΆα&αααααΉαα αΈααΆααααααα£ ααΆααααΎαααΆααα·ααΆααα α’-α‘βααΆαααΌαααΆαααααααΏαααα ααΆα α’β-α’ αααααΉαα αΈααΆαααααα α’-α’-α‘ββ αααα Hardware α’-α’-α’ββ αααα software α£ ααΆααααΎαααΆαααααΆααα·ααΆ α£-α‘βBlock Diagram α£-α’ Flow chart code α£-α£βααΆααααΎαααΆααα·ααΆααα α€ββαααααααααΆααααβ(Result) α¦βααα ααααΈαααα·ααΆαΆ α
- 3. ο΄ααα α αΎαα ααααααα·α αααΆαα· αα·αααΈαααΆααααααααααΆααααααΆαααΈαααΆαααΌααΆααα αααα ααααα ααααα αα αααα·ααααΆαααα»αααααΆαα αα‘αΎαααα αααααααα α ααααααΉαααα·αα αααααα αα αααα·ααααΆααααΆαααααΆ ααααααααααααΆααααΆαααΆααααα½ααααααααααΆααααααααααααα ααα»αα αααααααααα αα αααα·ααααΆαα αα αααα·ααααΆααΆ α αααα αΎαααΆααα ααααΎαα αα‘αΎα ααΆααααΆαααΆααααα½ααααααααααΆαα αα·αααααααΆαααα»αααΆααΆαααΆαα ααααα α α αααα αα αα»α ααααα αα αΎαααΆαααΆαααααΆ αα α α αα ααα·ααααΆααΊ ααΆαααααΆ ααα½ααααααααααααα»αααΆαααΆααααΆααα αα ααΆααααααα αα·ααααΈααααααααΈαααααααα αααααΎααααΆααα αα αΎαααΆααααΌαααΆαααααααα·ααα·αα ααΆααααααααααα α α αα αα»α αααααΎααααα»ααααααα αααΎαααΆααααΌααααα·αααα α ααααΎααΆαααααααααααΆαααΆααααααααΉα Radar System αααα ααΆαα ααααΎααα½αααΆ αααααααααα»ααα·αααα ααααΆ α αα αΎαααααααΆαα α»αα αααααΆαα ααααα αααΎαααΆααααΌαααΆαααααααααααααα»αααααααΆα ααααΈααααα αααΎαα ααααΎααααΈ αα ααααααα αααααααααααα ααα ααΆα α αα α‘βαααααΈααααΎα
- 4. α‘.α‘αααααΆααα -ααα ααααααΈααΆααααΎαααΆαααΌαα ααααRadar -ααααΆαααααΆαααΈα α·ααΈ Design interface αααΎComputer -ααΆααααααΆ Microcontroller αΆααααcomputer αααΆαHC11 - ααααααΈαα ααΆααααααΉαβαααααβααααβ Programming, ααααβ Circuit Electronic - ααααααΉααααα·ααΆαααααααααα ααααΆααααααΎαproject α‘.α’β αααααΆαααα -αΆROBOTαα½ααααα’αΆα α scan αααααΎαααα α§αααααα α ααΆααααΆαααα»ααααα ααα αααα αααΈβα£-α€βααααΆαβ αα·αα’αΆα αααΆαααΆααααΈαααΆααααWireless UART SERIAL HC11 αΆααααcomputer αα αα αααα ααΆαααΆαβ α£α α -α₯α α βααααΆαβ -αααΆαΆ ααααααΆαRADAR αα αααΎScreen computer αααΆαααααΆ ααααΆααααααΆααααΆααααβHC11 wireless UART serial
- 5. α’βααΆαααΌαααΆαααααααΏαααα ααΆα&αααααΉαα αΈααΆαααααα ο΄ αααΎαααΈα²αααΆαΌααΌαβ ULTRASONIC RADAR α’αΆα αααΆααααΎαααΆααααααΎααααααΌαααΆαα ααΆααααααΉαααΆαα αααααα·αααααααΏαααα ααΆαααΆαααΆαααααΌα αααΆαααααααΆα: ο΄ α’-α‘βααΆαααΌαααΆαααααααΏαααα ααΆα - Arduino Microcontroller NANO - LIPO Battery - wheel x4 - DC MOTOR (DG01D120)X4 - servo motor(MG90) - ultrasonic sensor - HC11 - L298 driver motor -Wireless USB Serial
- 6. α’β-α’ αααααΉαα αΈααΆαααααα α’-α’-α‘ββ αααα Hardware ο΄ α Arduino Microcontroller NANO Microcontroller ATmega328 Operating Voltage 5V Input Voltage (recommended) 7-12V Input Voltage (limits) 6-20V Digital I/O Pins 14 (of which 6 provide PWM output) Analog Input Pins 8 DC Current per I/O Pin 40 mA DC Current for 3.3V Pin 50 mA Flash Memory 32 KB (ATmega328) of which 0.5 KB used by bootloader SRAM 2 KB (ATmega328) EEPROM 1 KB (ATmega328) Clock Speed 16 MHz External interrupts pins 2 and 3
- 7. α’β-α’ αααααΉαα αΈααΆαααααα α’-α’-α‘ββ αααα Hardware ο΄ α ULTRASONIC SENSOR ο΄ Ultrasonic sensors [7] (also known as transceivers when they both send and receive, but more generally called transducers) work on a principle similar to radar or sonar which evaluate attributes of a target by interpreting the echoes from radio or sound waves respectively. Ultrasonic sensors generate high frequency sound waves and evaluate the echo which is received back by the sensor. Sensors calculate the time interval between sending the signal and receiving the echo to determine the distance to an object. ο΄ Systems typically use a transducer which generates sound waves in the ultrasonic range, above 18,000 hertz, by turning electrical energy into sound, then upon receiving the echo turn the sound waves into electrical energy which can be measured and displayed.
- 8. α’β-α’ αααααΉαα αΈααΆαααααα α’-α’-α‘ββ αααα Hardware ο΄ α DC MOTOR Optimum Motor Voltage: 4.5V Maximum Motor Voltage: 6.0V No Load Speed: 58rpm No Load Current: 190mA (max. 250mA) Stall Current: 1A More datasheet http://dlnmh9ip6v2uc.cloudfront.net/datasheets/Robotics/DG01D.pdf
- 9. α’β-α’ αααααΉαα αΈααΆαααααα α’-α’-α‘ββ αααα Hardware αβ L298D Motor Driver Mode lL298N αΆDriver ααΆαααααααααα ααΆαααββHigh Voltage αα·αβHigh Current αα α²αααΆαΌααα αα·ααΆDual full -bridge motor driverααα Designed αα ααΉαStandard TTL logic levels ααΆααααΎα ααΆαααΆαααΌα αααΆαααααααΆαβ: =Operating supply voltage up to 46V =Total DC current up to 4A =Low saturation voltage =Over temperature protection =Logical β0β input voltage up to 1.5vα More datasheet http://html.alldatasheet.com/html- pdf/22437/STMICROELECTRONICS/L298/4864/3/L298.ht ml
- 10. α’β-α’ αααααΉαα αΈααΆαααααα α’-α’-α‘ββ αααα Hardware αβ HC11 ο΄ -HC11 ααΊαΆααααααΈelectronic αααα’αΆα αααααααΎααΆαααααααα αΌααα·αααα½αSignal ααΆαα½α αααΆαααααααΎαααααααααααΆααα UART serial RS232α ο΄ -ααΆααΆααααΎαααΆααΆαα½ααα·ααααααααββ 434MHz αααααααΉααα ααααΆααααααΎαααααααα αα αααααα αααααααβ -Input voltage 5V -Idle power 3.4mA/3.3v -MAX power 10DBM -Receive sensitivity -110DBM -More Datasheet http://www.topelectronics.com.au/image-eb/HC11/HC11.pdf http://www.seeedstudio.com/wiki/images/a/a8/HC11_User_Manual.pdf
- 11. α’β-α’ αααααΉαα αΈααΆαααααα α’-α’-α‘ββ αααα Hardware α αβ Servo Motor MG90 Modulation: Analog Torque: 4.8V: 30.60 oz-in (2.20 kg- cm) 6.0V: 34.70 oz-in (2.50 kg- cm) Speed: 4.8V: 0.11 sec/60Β° 6.0V: 0.10 sec/60Β° Weight: 0.49 oz (14.0 g) Dimensions: Length:0.91 in (23.1 mm) Width:0.48 in (12.2 mm) Height:1.14 in (29.0 mm) Motor Type: MG90 Gear Type: Metal Rotation/Support: Dual Bearings Rotational Range: 180Β° Pulse Cycle: 20 ms Pulse Width: 400-2400 Β΅s Connector Type: (add) Servo motor ααΊαΆαααααααααΆαΌααα αααα’αΆα αα²αααΎαααΆααααααΌαααΊααααααα»αΆααααα α’ααααααα·ααααα ααα αααα αααΈ α -180 ααΊ ααααα
- 12. α’β-α’ αααααΉαα αΈααΆαααααα α’-α’-α‘ββ αααα Hardware αβ Wireless USB serial (2303) ο΄ ααΊαΆα§αααααααααΆαααΆααααconvert USB to UART αααΎαααΈααααΆ αααΆαα½αβHC11α ο΄ It will definitely boost development speed of projects which uses UART modules like interfacing GSM, GPS, Bluetooth, Wi-Fi β¦ ο΄ By using it we can easily study these modules by sending data directly from your PC and analyzing the received data in your computer display without programming a microcontroller. Here we will use PL2303, one of the most popular USB to UART
- 13. α’-α’ αααααΉαα αΈααΆαααααα α’-α’-α’ββ αααα softwareο΄ ο΄ α αα’ααΈαββ ο΄
- 15. α 2d coordinate system
- 16. α Processing C++ 3.0 ααΊαΆαααα α·ααΈααΆααααdevelop software ααααΈααα αααΎααααααΎαα αΎαααΆαααΌααα ααααα αΆαα’α α‘α’ ααα ααΆααααααFit αα ααΉα Arduino αα·α ααααααΎ ααααΆ C++ αα ααααΆαDesign Graphic α Processing is available for Linux, Mac OS X, and Windows. Processing α’αΆα αααααααΎααΆαααααααααΆ αα controller ααααααααΆαααΆααααααααΆα ααααα½ααα·ααΆαΆαααΆα ααΌα ααΆ αααααΆ αα αααΎ -Arduino - Raspberry pi (image process , interface control , graph plot β¦β¦.) - PIC
- 17. αβ serial communicate ο΄ serial αΆ Protocol UART RS-232 PCααααα αααααα ααΎαααααααΎααΆαααααααααΆ ααααΈ PC αα βMICRO CONTROLLER βα αΊααΈ Microcontroller αα ααΆααModule ααααα αααααααααααΎProtocol ααααΆααααααααΆααααααΆαααβα ο΄ αα ααααΆααααα αΌααααααΆαααΈcomputer αααααΆαα USB αα ααΆααcontrollerααΆααααΎααΆααααα αΌααααββ1Bit. Function ααααααΆααΆα: if (Serial) readBytes() readBytesUntil() readString() available() availableForWrite() begin() end() find() findUntil() More information about serial : https://www.arduino.cc/en/Reference/Serial
- 18. α α PWM & MOTOR CONROL (Pulse Width Modulation) ο΄ PWM ααΊαΆsignal digital ααΆα ααααα αΆAnalog ααααααΎαααααααΎααΆααααααααΎααΆα ααααΆααα½αααΆααααααα αααααα αααΎααααααΏαααα½ααα ααααΆαααααααΎ αααΆα ααααΆααα½αααααΏααααΆαΌααα ααΆα ααααΆααα½αααααΊβ ααα»αΆαββ¦.. ο΄ PWM ααΊαΆ signal ααααααααΆααααααααΆααααΎααΆααα·ααααΎα α αΎαααααArduino αα αααα½ααα½αααααααΆ αα½αβααααααα ααΆααΆ Duty cycle α ο΄ Syntax analogWrite (pin, value)
- 19. Motor control IN 1 IN2 EN1 ACTIO N X X 0 STOP 0 1 1 1 0 1 1 1 X STOP IN 3 IN4 EN2 ACTIO N X X 0 STOP 0 1 1 1 0 1 1 1 X STOP Syntax digitalWrite(pin,HIGH); digitalWrite(pin,LOW);
- 20. α Solid work ο΄ SOLID WORK ααΊαΆαααα α·ααΈαα½αααααααΎααΆααααααΌα Design 2d αα·αβ3d αα αααΎααααααααΆαα·αα αα αα ααβproject αααΎαααααααααΎsolid work ααΆααααdesign ααΌααααα½αααααααΆαΌααΌαβα
- 21. α£ ααΆααααΎαααΆαααααΆααα·ααΆ α£-α‘βBlock Diagram TRANSMITTER BLOCK PC USB SERIAL HC11 DATA INFORMATION PROCESSING INTERFACE DISPLAY HC11 ARDUINO L298D MOTOR1 MOTOR4 MOTOR2 MOTRO3 ULTRASONIC RECIEVER BLOCK
- 22. α£-α’ Flow chart code ο΄ α processing PC control ο΄ Key initialize W S A D q Forward Backward Turn Left Turn Right Serial events Draw radar Draw Line Draw object Display on screen start finish
- 23. α/ Ultrasonic robot Initialize servo motor , DC motor , ultrasonic Serial events Motor DC active Servo active Ultrasonic scan Calculate distance start finish Forward Backward Turn right Turn left Draw Radar
- 24. α£-α£βααΆααααΎαααΆααα·ααΆααα ο΄ α HC11 ο΄ αααΎαtest HC11 αααΆαβαααααΎαααΌααααα α·ααΈαα½ααααα’αΆα αα²αααΎααααchat αΆαα½ααα·αααααα·αααααααΎα αα αααααα ααΆαααΆαβα₯α α βααααΆααααα αα½ααααααΆ ααααΆ αααα α·ααΈαααααΆαText fieldααΆααααααΆαα’αααα ααΌα αα·αText area ααΆααααααα½α massage αααααααααΎααα
- 25. αβUltrasonic and Servo ααΆαααΆααααΆααααα ααΆαααΆαααααUltrasonic ααΆαtest αααΎαααα·αααααServo motor αααΆαααααΆ αααΆαα½α Ultrasonic
- 26. α ααΆαβDesign Graphic αα ααβprocessing ellipse(lengthX/2,lengthY/2,radius ,radius); ellipse(lengthX/2,lengthY/2,radius/1. 2 ,radius/1.2); ellipse(lengthX/2,lengthY/2,radius/1. 5 ,radius/1.5); ellipse(lengthX/2,lengthY/2,radius /2,radius/2);
- 27. for (int dergree=0 ; dergree<=360; dergree=dergree+30){ y2= ((radius/2+30)* sin(radians(dergree)))+ lengthY/2; x2= ((radius/2+30)* cos(radians(dergree)))+lengthX/2; line (lengthX/2,lengthY/2,x2,y2); }
- 28. α ααΆααααααΆ αααΎMotor αα ααααααα·ααΆααα αααΎααααΎαααΆααΆααααα αα’αΆαααα’α½ααααΆααΆααα ααΆααααααΆ αααΎααΆαααΆαα string αααΎααααααΆαααααΆα αααααΆ αααΆααα αΌαα α·ααΈαα αααprogram αααΎαααΈ ααΆααstring
- 29. α€ββαααααααααΆααααβ(Result) 4.1 αααααααααΆαααααΎααΈααΆααααααΎProcessing -Red area = object detect -Green area = out of range
- 30. α¦βααα ααααΈαααα·ααΆαΆ α ο΄ ααααΆαααΆαβααααΆαααααΆαβαα ααProject ULTRASONIC ROBOT αααΎααααααΎαααΆααΆαααααα½αααα ααΉαααΆαβαΆααααΆαααΆαααα αα αΈαααααααααα αααααααααααα’αααβαβααΆααααααααα α½αα² αααα α»ααα ααΆαααααααααΈαα ααΆααααααΉααααα Interface design processing , Aduino Microcontroller , circuit electronic, Mathematic αααΎααα·ααΆααα»αα·ααααΌαα αα ααααΆαααα ααααααα’αΆα ααααααΆααα»α ααΌααα ααααΆαα’αα·ααααααα α·αααααα αα αα α·ααElectronic αααααα ο΄ αΆαααΆαααααΉαααα»αultrasonic Radar robot ααΉαα’αΆα αα ααΌααα½αααΆααα αΎαα ααα α·αααααααΆ ,Automobile αα αααααααααααα ααΆ ααΆααααααααΆαααΆαα ααΌαααΈααααα αααααΎαααααΆαα·α αα αΆαα·α ο΄ αΆα ααα»αααααααΆααα ααΆαααΌ ααααΎαααΉαα αα·ααααα α’ααααααΆαααααΆαααΆααΆααα‘αΆαα²αααααΆααα·αααΆαα α·ααα·ααα ααΆααα·αααααΈααααΎαααΈ α½αα²αααααααααα ααΆααΆαααααα αΎαα ααΆααα αΎααα ααα α·αααααα αα αααα ααΌα αα’α α·α ααααααααααααΎααααααΆαβα
- 31. THANK YOU
Editor's Notes
- #21: HH