PARALLAX INC 28041 LaserPING Rangefinder Module
LaserPING 2m Rangefinder imapereka njira yosavuta yoyezera mtunda. Kachipangizo kapafupifupi ka infrared, time-of-ndege (TOF) ndi koyenera kuyesa miyeso pakati pa zinthu zoyenda kapena zoyima. Pini imodzi ya I/O imagwiritsidwa ntchito pofunsa onse a LaserPING muyeso wake waposachedwa wamtunda, ndikuwerenga yankho. LaserPING 2m Rangefinder itha kugwiritsidwa ntchito ndi pafupifupi microcontroller iliyonse, kugwiritsa ntchito mawonekedwe ake a PWM kapena mawonekedwe osankha. Zapangidwa kuti zikhale zozungulira- ndi code-zogwirizana ndi PING))) Ultrasonic Distance Sensor, kupanga mapulogalamu osinthika pamene zinthu zosiyanasiyana zachilengedwe ziyenera kuganiziridwa. Miyeso imatha kutengedwa kudzera pawindo la acrylic kuti muteteze sensor.
Co-processor yopangidwa ndi sensor imatsimikizira milingo yoyenera. Malumikizidwe ake a I/O amagwira ntchito limodzitage amaperekedwa ku pini ya VIN, kuti igwirizane ndi 3.3V ndi 5V microcontrollers.
Mawonekedwe
- Muyeso wa mtunda wosalumikizana ndi 2 -200 cm
- Factory pre-calibrated kuti ikhale yolondola ndi 1 mm kusamvana
- Kuwala kotetezedwa ndi maso pafupi ndi infrared (IR) pogwiritsa ntchito kalasi 1 laser emitter
- Sinthani chitetezo cha polarity ngati VIN ndi GND zasinthidwa mwangozi
- Onboard microprocessor imagwira ntchito zovuta sensa code
- Yogwirizana ndi 3.3V ndi 5V microcontrollers
- 3-pin SIP form-factor yothandiza pa Breadboard yokhala ndi dzenje lokwera
Malingaliro a Ntchito
- Maphunziro a physics
- Machitidwe achitetezo
- Zowonetsa makanema ojambula
- Mayendedwe a robotic ndi makina othandizira oyimitsa magalimoto
- Ntchito zogwiritsa ntchito monga kuzindikira pamanja ndi kuzindikira kwa 1D
- Kuzindikira kuchuluka kapena kutalika mumayendedwe owongolera
Zofunika Kwambiri
- LaserMphamvu: 850nm VCSEL (Laser Yoyimira Cavity Surface Emitting Laser)
- MtunduKutalika: 2-200 cm
- Kusamvanapa: 1 mm
- Chiyerekezo chotsitsimutsa: 15 Hz PWM mode, 22 Hz serial mode
- Zofuna mphamvu: + 3.3V DC mpaka +5 VDC; 25 mA
- Kutentha kwa ntchito+14 mpaka +140 °F (-10 mpaka +60 °C)
- Chitetezo cha maso a laser: pafupi-infrared Class 1 laser mankhwala
- Munda wowunikirakutentha: 23 ° madigiri
- Munda wa viewkutentha: 55 ° madigiri
- Fomu factor: 3-pini chachimuna chamutu chokhala ndi 0.1 ″ motalikirana
- Makulidwe a PCBkukula: 22x16 mm
Kuyambapo
Lumikizani zikhomo za sensor ya LaserPING ku mphamvu, pansi, ndi pini ya I/O ya microcontroller yanu monga momwe zikuwonekera pachithunzichi. Dziwani kuti chithunzichi chikuwonetsa kumbuyo kwa sensa; lozani gawolo ku chinthu chomwe mukufuna. Sensa ya LaserPING imathandizidwa ndi midadada ya BlocklyProp, malaibulale a Propeller C, ndi example kodi ya BASIC Stamp ndi Arduino Uno. Ndiwozungulira- ndi code-yogwirizana ndi mapulogalamu a PING))) Akupanga Distance Sensor (#28015). Yang'anani zotsitsa ndi maulalo amaphunziro patsamba lazogulitsa za sensa; Sakani "28041" pawww.parallax.com.
Communication Protocol
Kachipangizo kameneka kamatulutsa laser pulse infrared (IR) yomwe imayenda mumlengalenga, imayang'ana kuchokera kuzinthu kenako ndikubwerera ku sensa. Module ya LaserPING imayesa molondola kutalika kwa laser pulse yomwe ikuwonekera kuti ibwerere ku sensa, ndikusintha muyeso wa nthawiyi kukhala mamilimita, ndi 1 mm chisankho. Microcontroller yanu imafunsa gawo la LaserPING la muyeso waposachedwa (omwe amatsitsimutsidwa pafupifupi 40 ms) ndiyeno amalandila mtengowo pa pini yomweyo ya I/O, ngati kugunda kwamitundu yosiyanasiyana mumayendedwe a PWM, kapena ngati zilembo za ASCII mu serial. mode.
PWM mode
PWM default mode idapangidwa kuti ikhale yogwirizana ndi PING))) Khodi ya Ultrasonic Distance Sensor (#28015). Ikhoza kuyankhulana ndi 3.3 V kapena 5 V TTL kapena CMOS microcontrollers. PWM Mode imagwiritsa ntchito mawonekedwe a bidirectional TTL pulse pa pini imodzi ya I/O (SIG). Pini ya SIG idzakhala yotsika, ndipo mphamvu zonse zolowetsamo ndi echo pulse zidzakhala zabwino kwambiri, pa VIN vol.tage.
| Kugunda m'lifupi | Mkhalidwe |
| 115 mpaka 290 µs | Kuchepetsa kulondola kwake |
| 290µs mpaka 12 ms | Muyezo wolondola kwambiri |
| 13 ms | Muyezo wolakwika - chandamale pafupi kwambiri kapena patali kwambiri |
| 14 ms | Zolakwika zamkati zamkati |
| 15 ms | Sensor yamkati yatha |
Kuthamanga kwa mpweya kumayenderana ndi mtunda, ndipo sikumasintha kwambiri ndi kutentha kozungulira, kuthamanga, kapena chinyezi.
Kuti musinthe kuchuluka kwa kugunda kuchokera nthawi, mu μs, kukhala mamilimita, gwiritsani ntchito equation iyi: Distance (mm) = Pulse Width (ms) × 171.5 Kuti musinthe kuchuluka kwa kugunda kuchokera nthawi, mu μs, kukhala mainchesi, gwiritsani ntchito equation iyi: Kutalikirana ( mainchesi) = Kukula kwa Kugunda (ms) × 6.752
Seri Data Mode
Seri data mode imagwira ntchito pa 9600 baud yokhala ndi mawonekedwe a bidirectional TTL pa pini imodzi ya I/O (SIG), ndipo imatha kulumikizana ndi 3.3 V kapena 5 V TTL kapena CMOS microcontrollers. Pini ya SIG idzakhala yopanda ntchito motere, pa VIN voltage. Kuti musinthe kuchoka pa PWM yosasintha kupita ku serial mode, yendetsani pini ya SIG pansi, kenako tumizani ma pulse atatu apamwamba a 100 µs ndi 5 µs, kapena kutalikirapo, mipata yotsika pakati. Izi zitha kuchitika potumiza zilembo zazikulu 'I'.
Langizo: Kuti mugwiritse ntchito ndi ma microcontrollers omwe sagwirizana ndi bidirectional serial, module ya LaserPING ikhoza kukonzedwa kuti idzuke mumayendedwe a serial. Pamenepa, kulowetsa kumodzi kokha kwa serial-rx kumafunika pa microcontroller yanu! Onani gawo la "Kuthandizira seriyo poyambira" pansipa.
Mu seri mode, LaserPING imatumiza nthawi zonse deta yatsopano yoyezera mumtundu wa ASCII. Mtengo udzakhala mamilimita, ndikutsatiridwa ndi chiwongolero chobwerera (decimal 13). Mtengo watsopano udzaperekedwa nthawi iliyonse sensor ikalandira kuwerenga koyenera, nthawi zambiri kamodzi pa 45 ms.
| Mtengo wa Serial | Mkhalidwe |
| 50 mpaka 2000 | Muyezo wolondola kwambiri wamamilimita |
| 1 mpaka 49 |
Kuchepetsa muyeso wolondola mu mamilimita |
| 2001 mpaka 2046 | |
| 2047 | Kuwunikira kwapezeka kupitirira mamilimita 2046 |
|
0 kapena 2222 |
Muyezo wolakwika
(Palibe kusinkhasinkha; chandamale pafupi kwambiri, kutali kwambiri, kapena kwakuda kwambiri) |
| 9998 | Zolakwika zamkati zamkati |
| 9999 | Sensor yamkati yatha |
Kuti muyimitse mawonekedwe a serial ndikubwerera kumayendedwe okhazikika a PWM:
- Nenani pini ya SIG yotsika, ndipo ikani pansi kwa 100 ms
- Tulutsani pini ya SIG (nthawi zambiri ikani pini yanu ya I/O yomwe imalumikizidwa ndi SIG kubwerera kumayendedwe olowetsa olepheretsa kwambiri)
- LaserPING tsopano ikhala mu PWM mode
Kuthandizira Serial pa Kuyambitsa
Ma 2 SMT pads olembedwa DBG ndi SCK akhoza kufupikitsidwa palimodzi kuti asinthe mawonekedwe a data, ndikupangitsa kuti serial mode poyambira. Module ya LaserPING imayang'ana momwe ma pini a DBG / SCK ali ndi mphamvu.
- DBG ndi SCK zimatsegulidwa = Kufikira kumachitidwe a PWM (mawonekedwe a fakitale)
- DBG ndi SCK zofupikitsidwa pamodzi = Zosasintha ku Serial Data Mode
Kufupikitsa mapini awiriwa, 0402 resistor <4 k-ohm, zero ohm link, kapena solder blob ikhoza kugulitsidwa pamapadi. Onani Mafotokozedwe a SMT Test Pad pansipa kuti mumve zambiri pamapadi awa. Poyambira, sensa imatenga pafupifupi 100 ms kuti iyambe, pambuyo pake LaserPING idzayamba kutumiza ma serial ASCII values pa 9600 baud ku pini ya SIG. Deta idzafika mosalekeza CR (decimal 13) yotsitsidwa ndi ASCII serial stream, ndikuwerenga kwatsopano kulikonse kudzafika pafupifupi 45 ms iliyonse. Nthawi ya 45 ms iyi idzasiyana pang'ono, monga malingana ndi mtunda woyezedwa, nthawi yofunikira kuti sensa izindikire, kuwerengera ndi kukonza deta idzasiyananso pang'ono.
Kutalikirana Kwambiri Kutalikirana ndi Kulondola Kwamitundu
Gome ili m'munsili likuwonetsa kulondola kwamitundu yosiyanasiyana ya chipangizocho, chokhala ndi data yomwe idapezedwa ndi chipangizocho chomwe chimagwira ntchito kutentha kwa chipinda ndipo palibe galasi lakuphimba pa chipangizocho. Chipangizochi chitha kugwira ntchito kunja kwa milingo iyi molondola kwambiri.
| Chiwonetsero cha Chandamale Chophimba Munda Wathunthu wa View (FoV) | Zowona Zambiri | ||
| 50 mpaka 100 mm | 100 mpaka 1500 mm | 1500 mpaka 2000 mm | |
| Cholinga Choyera (90%) | +/- 15% | +/- 7% | +/- 7% |
| Gray Target (18%) | +/- 15% | +/- 7% | +/- 10% |
Munda wa View (FoV) ndi Field of Illumination (FoI)
Zinthu za emitter ndi zolandila za sensor ya laser zimapanga mawonekedwe a cone. The emitter field of illumination (FoI) ndi 23°, ndi receiver field of vision (FoV) ndi 55°. Sensa ya LaserPING imangozindikira zinthu mkati mwa FoI, koma ikhoza kukhala yochepetsera kumva zinthu zowala zili mkati mwa FoV. Kuwerenga kungakhalenso kosalondola pamene mawonekedwe owoneka mkati mwa FoI amamwaza kuwala kuzinthu zina mkati mwa FoI kapena FoV.
Poyezera mtunda wautali sensa iyenera kukhala yotalikirana ndi pansi, makoma kapena denga lililonse lozungulira kuti zitsimikizire kuti sizikhala cholinga chosakonzekera, mkati mwa FoI. Pamasentimita 200 kuchokera ku module ya LaserPING, FoI ndi disk 81.4 masentimita awiri. Kukwera pamwamba pa nthaka kumatha kukhudza magwiridwe antchito, chifukwa malo ena amawonetsa m'malo mopotoza:
Pin Kufotokozera
| Pin | Mtundu | Ntchito |
| GND | Pansi | Common Ground (0 V perekani) |
| VIN | Mphamvu | Gawoli lizigwira ntchito pakati pa 3.3V mpaka 5V DC. Chithunzi cha VINtage imayikanso logic-high level voltage za pini ya SIG. |
| SIG | I/O* | PWM kapena seri data input / output |
* Mukakhala mu mawonekedwe a PWM, pini ya SIG imagwira ntchito ngati cholowetsa chotsegula, chokhala ndi 55 k-ohm yotsitsa pansi, kupatulapo ma pulses, omwe amayendetsedwa ku VIN. Ikakhala mu serial mode, pini ya SIG imagwira ntchito ngati kukoka-koka.
Kufikira kwa ogwiritsa ntchito kumapeto kwa mapepala oyesera, kupitilira kusintha mawonekedwe osasinthika poyambira kuchokera ku PWM kupita ku seri, sikuthandizidwa.
| Pad | Mtundu | Ntchito |
| DBG | Tsegulani wokhometsa | Pini ya pulogalamu ya Coprocessor (PC1) |
| SCK | Tsegulani wokhometsa | Pini ya pulogalamu ya Coprocessor (PB5) |
| Mtengo wa magawo SCL | Tsegulani wokhometsa | Wotchi ya Laser I2C yokhala ndi 3.9K kukoka mpaka 3V |
| Bwezeraninso | Tsegulani wokhometsa | Pini ya pulogalamu ya Coprocessor (PC6) |
| SDA | Tsegulani wokhometsa | Laser sensor I2C seriyo data yokhala ndi 3.9K kukoka mpaka 3V |
| MOSI | Tsegulani wokhometsa | Pini ya pulogalamu ya Coprocessor (PB3) |
| INTD | Kankhani Kokani (yogwira pansi) | Laser sensor Data Ready Interrupt
Nthawi zambiri logic imakhala yokwera, pini iyi imatsika pansi pamene mtengo watsopano ulipo, ndipo umabwereranso pamwamba pamene mtengowo wawerengedwa. |
| MISO | Tsegulani wokhometsa | Pini ya pulogalamu ya Coprocessor (PB4) |
Tsatirani Maupangiri Osankha Magalasi
Module ya LaserPING ili ndi dzenje loyikirapo kuti muchepetse kuyika galasi lovunda lomwe mwasankha. Izi zitha kugwiritsidwa ntchito kuteteza sensa muzinthu zina, kapena kuyesa kukhudzidwa kwa zinthu zosiyanasiyana zomwe zimagwira ngati zosefera pa nyali ya infrared laser. Kuti mupeze ntchito yabwino, malamulo otsatirawa ayenera kuganiziridwa pagalasi lophimba:
- Zakuthupi: PMMA, Acrylic
- Kutumiza kwa Spectral: T< 5% kwa λ< 770 nm, T> 90% kwa λ> 820 nm
- Kusiyana kwa mpweyaku: 100m
- Makulidwe: <1mm (yocheperako, yabwinoko)
- Makulidwekukula: 6 x 8 mm
PCB Miyeso
Mbiri Yobwereza
Mtundu 1.0: kutulutsidwa koyambirira. Dawunilodi kuchokera Arrow.com.
Zolemba / Zothandizira
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PARALLAX INC 28041 LaserPING Rangefinder Module [pdf] Buku Logwiritsa Ntchito 28041, LaserPING Rangefinder Module, 28041 LaserPING Rangefinder Module, Rangefinder Module, Module |
