PARALLAX INC 28041 LaserPING Rangefinder Module
LaserPING 2m Rangefinder e fana ka mokhoa o bonolo oa ho lekanya sebaka. Sensor ena e haufi le infrared, time-of-flight (TOF) e loketse ho nka litekanyo lipakeng tsa lintho tse tsamaeang kapa tse emeng. Pini e le 'ngoe ea I/O e sebelisetsoa ho botsa sensor ea LaserPING bakeng sa tekanyo ea morao-rao ea sebaka, le ho bala karabo. LaserPING 2m Rangefinder e ka sebelisoa hoo e batlang e le microcontroller efe kapa efe, e sebelisa mokhoa oa eona oa PWM kapa mokhoa oa boikhethelo oa serial. E etselitsoe ho ba potoloho- le khoutu-e lumellanang le PING))) Ultrasonic Distance Sensor, ho etsa hore likopo li fetohe moo maemo a fapaneng a tikoloho a lokelang ho nkoa teng. Litekanyo li ka nkoa ka fensetere ea acrylic ho sireletsa sensor.
Co-processor ea sensor e hahelletsoeng ka hare e netefatsa maemo a nepahetseng a kelello. Lihokelo tsa eona tsa I/O li sebetsa ka molumo o le mongtage fanoe ho phini ea VIN, bakeng sa ho lumellana le 3.3V le 5V microcontrollers.
Likaroloana
- Tekanyo ea sebaka se sa amaneng le motho ka bophara ba 2 -200 cm
- Feme e lekantsoe esale pele bakeng sa ho nepahala ka qeto ea 1 mm
- Khanya e sireletsehileng ea mahlo e sa bonahaleng haufi le infrared (IR) e sebelisang mochini oa laser emitter ea sehlopha sa 1
- Tšireletso ea morao ea polarity haeba VIN le GND li fetotsoe ka phoso
- Onboard microprocessor e sebetsana le khoutu e rarahaneng ea sensor
- E lumellana le li-microcontroller tsa 3.3V le 5V
- 3-pin SIP form-factor e loketseng Breadboard e nang le lesoba le holang
Mehopolo ea Tšebeliso
- Lithuto tsa fisiks
- Mekhoa ea tšireletso
- Lipontšo tsa lipopae tse sebetsanang
- Liroboto tsa navigation le litsamaiso tse thusang ho paka makoloi
- Lisebelisoa tse sebelisanang joalo ka ho lemoha ka letsoho le ho lemoha boitšisinyo ba 1D
- Ho lemoha molumo kapa bophahamo mekhoeng ea ho laola tšebetso
Litlhaloso Tse Bohlokoa
- Laser: 850 nm VCSEL (Vertical Cavity Surface Emitting Laser)
- Rangebolelele: 2-200 cm
- Qetobophahamo: 1 limilimithara
- Sekhahla se tloaelehileng sa ho hlasimolla: 15 Hz PWM mode, 22 Hz serial mode
- Litlhoko tsa matla: + 3.3V DC ho + 5 VDC; 25 mA
- Mocheso oa ho sebetsa+14 ho +140 °F (-10 ho +60 °C)
- Tšireletseho ea mahlo a laser: sehlahisoa sa laser se haufi le infrared Class 1
- Tšimo ea ho bonesamocheso: 23 °
- Tšimo ea viewmocheso: 55 °
- Sebopeho sa sebopeho: Hlooho ea banna e 3-pin e nang le sebaka sa 0.1 ″
- Litekanyo PCB: 22 x 16 limilimithara
Rea qala
Hokela lithakhisa tsa sensor ea LaserPING matla, fatše, le phini ea I/O ea microcontroller joalo ka ha ho bonts'itsoe setšoantšong. Hlokomela hore setšoantšo se bontša mokokotlo oa kutlo; supa lehlakore la karolo nqa ntho eo o e batlang. Sensor ea LaserPING e tšehetsoa ke li-blocklyProp, lilaebrari tsa Propeller C, le example khoutu ea BASIC Stamp le Arduino Uno. Ke potoloho- le khoutu-e lumellana le likopo tsa PING))) Ultrasonic Distance Sensor (#28015). Batla likhokahano tsa download le lithupelo leqepheng la sehlahisoa sa sensor; batla "28041" howww.parallax.com.
Puisano Protocol
Sensor e ntša infrared laser pulse (IR) laser pulse e tsamaeang moeeng, e bonahatsa lintho tse ling ebe e khutlela ho sensor. Mojule oa LaserPING o lekanya ka nepo hore na molumo oa laser o bonts'itsoeng o nka nako e kae ho khutlela ho sensor, mme o fetola tekanyo ea nako ena ho limilimithara, ka qeto ea 1 mm. Microcontroller ea hau e botsa mojule oa LaserPING bakeng sa tekanyo ea morao-rao (e nchafatsoang hoo e ka bang 40 ms) ebe e khutlisa boleng ho phini e tšoanang ea I/O, e ka ba phallo ea bophara bo fapaneng ka mokhoa oa PWM, kapa joalo ka litlhaku tsa ASCII ho serial. mokgoa.
Mokhoa oa PWM
Mokhoa oa kamehla oa PWM o etselitsoe hore o lumellane le khoutu le PING))) Ultrasonic Distance Sensor (#28015) khoutu. E ka buisana le 3.3 V kapa 5 V TTL kapa CMOS microcontroller. PWM Mode e sebelisa bidirectional TTL pulse interface ho pini e le 'ngoe ea I/O (SIG). Pini ea SIG e tla lula e le tlase, 'me molumo oa ho kenya letsoho le echo pulse e tla ba holimo, ho VIN vol.tage.
| Pulse bophara | Boemo |
| 115 ho isa ho 290 µs | Tekanyo e nepahetseng e fokotsehile |
| 290µs ho isa ho 12 ms | Tekanyo e nepahetseng ka ho fetisisa |
| 13 ms | Tekanyo e fosahetseng — sepheo se haufi haholo kapa se hole haholo |
| 14 ms | Phoso ea kutlo ea kahare |
| 15 ms | Sensor e feletsoe ke nako |
Bophara ba pulse bo lekana le bohole, 'me ha bo fetohe haholo ho latela mocheso, khatello, kapa mongobo.
Ho fetolela bophara ba lebelo ho tloha ho nako, ho μs, ho limilimithara, sebelisa equation e latelang: Distance (mm) = Pulse Width (ms) × 171.5 Ho fetola bophara ba lebelo ho tloha ka nako, ho μs, ho ea ho lisenthimithara, sebelisa equation e latelang: Sebaka (inchi) = Pulse Width (ms) × 6.752
Serial Data Mode
Mokhoa oa data oa serial o sebetsa ho 9600 baud e nang le sebopeho sa bidirectional TTL pineng e le 'ngoe ea I/O (SIG), mme e khona ho buisana le 3.3 V kapa 5 V TTL kapa CMOS microcontroller. Pini ea SIG e tla lula e le holimo ka mokhoa ona, ho VIN voltage. Ho tloha ho mokhoa oa kamehla oa PWM ho ea ho mokhoa oa serial, khanna pinana ea SIG tlase, ebe u romela li-pulse tse tharo tse phahameng tsa 100 µs ka 5 µs, kapa nako e telele, likheo tse tlaase pakeng tsa. Sena se ka etsoa ka ho fetisa litlhaku tse kholo 'I'.
Keletso: Bakeng sa tšebeliso le li-microcontrollers tse sa tšehetseng bidirectional serial, module ea LaserPING e ka hlophisoa hore e tsohe ka mokhoa oa serial. Tabeng ena, ho hlokahala tlhahiso e le 'ngoe feela ea serial-rx ho microcontroller ea hau! Sheba karolo ea "Enabling Serial on Start-up" ka tlase.
Ka mokhoa oa serial, LaserPING e tla lula e romella lintlha tse ncha tsa tekanyo ka sebopeho sa ASCII. Theko e tla ba ka limilimithara, 'me e lateloe ke tlhaku e khutlang ea koloi (decimal 13). Boleng bo bocha bo tla fetisoa nako le nako ha sensor e fumana 'malo o nepahetseng, hangata hang ka 45 ms.
| Boleng ba serial | Boemo |
| 50 ho ea ho 2000 | Tekanyo e nepahetseng ka ho fetisisa ka limilimithara |
| 1 ho ea ho 49 |
Tekanyo ea ho nepahala e fokotsehile ka limilimithara |
| 2001 ho ea ho 2046 | |
| 2047 | Pontšo e fumanoe ho feta 2046 millimeters |
|
0 kapa 2222 |
Tekanyo e fosahetseng
(Ha ho ponahatso; sepheo se haufi haholo, se hole haholo, kapa se lefifi haholo) |
| 9998 | Phoso ea kutlo ea kahare |
| 9999 | Sensor e feletsoe ke nako |
Ho emisa mokhoa oa serial le ho khutlela ho mokhoa oa kamehla oa PWM:
- Emisa phini ea SIG tlase, 'me u tšoarelle tlase bakeng sa 100 ms
- Lokolla phini ea SIG (hangata beha phini ea hau ea I/O e hokahaneng le SIG ho khutlela mokhoeng oa ho kenya o thibelang haholo)
- LaserPING joale e tla ba ka mokhoa oa PWM
E nolofaletsa Serial ho Qala
Li-pads tse 2 tsa SMT tse tšoailoeng DBG le SCK li ka khutsufatsoa hammoho ho fetola mokhoa oa kamehla oa data, ho nolofalletsa mofuta oa serial ha o qala. Mojule oa LaserPING o lekola boemo ba lithakhisa tsa DBG/SCK ha o matlafatsa.
- DBG le SCK lia buleha = Mokhoa oa kamehla oa PWM (mokhoa oa kamehla oa feme)
- DBG le SCK li khutsufalitsoe hammoho = Ka ho sa feleng ho Mode oa data oa Serial
Ho khutsufatsa lithakhisa tse peli, sehanyetsi sa 0402 <4 k-ohm, sehokelo sa zero ohm, kapa solder blob se ka rekisoa ka mahlakoreng a mabeli. Sheba Litlhaloso tsa Pad ea Tlhahlobo ea SMT ka tlase bakeng sa lintlha tse mabapi le lipache tsena. Ka mokhoa oa serial ha o qala, sensor e nka hoo e ka bang 100 ms ho qala, ka mor'a moo LaserPING e tla qala ho romela litekanyetso tsa serial ASCII ho 9600 baud ho pini ea SIG. Lintlha li tla fihla ka mokhoa o tsoelang pele oa CR (decimal 13) o felisitsoeng ke ASCII, 'malo o mong le o mong o mocha o fihla hoo e ka bang 45 ms. Nako ena ea 45 ms e tla fapana hanyane, kaha ho latela sebaka se lekantsoeng, nako e hlokahalang bakeng sa sensor ho lemoha, ho bala le ho sebetsana le data le eona e tla fapana hanyane.
Boholo ba Bohole ba ho Rala le ho Nepaha ha Raha
Tafole e ka tlase e bonts'a lintlha tse fapaneng tsa ho nepahala ha sesebelisoa, ka data e fumanoeng ka sesebelisoa se sebetsang mochesong oa kamore mme ha ho na khalase e koahelang sesebelisoa. Sesebediswa se ka sebetsa kantle ho mesaletsa ena ka nepo e fokoditsweng.
| Sepheo Reflectance Koahelang Tšimo e Feletseng ea View (FoV) | Ho nepahala ha Range | ||
| 50 ho isa ho 100 limilimithara | 100 ho isa ho 1500 limilimithara | 1500 ho isa ho 2000 limilimithara | |
| White Target (90%) | +/- 15% | +/- 7% | +/- 7% |
| Grey Target (18%) | +/- 15% | +/- 7% | +/- 10% |
Tšimo ea View (FoV) le Field of Illumination (FoI)
Likarolo tsa emitter le moamoheli tsa sensor ea laser li theha sebopeho sa cone. Sebaka sa ho bonesa se emitter (FoI) ke 23°, 'me sebaka se amohelang pono (FoV) ke 55°. Sensor ea LaserPING e tla utloa feela lintho tse ka har'a FoI, empa e kanna ea fokotsa kutlo ha lintho tse khanyang li le ka har'a FoV. Ho bala ho ka 'na ha se ke ha nepahala ha liipone tse ka hare ho FoI li hasanya leseli ho lintho tse ling tse ka hare ho FoI kapa FoV.
Ha u lekanya sebaka se selelele, sensor e lokela ho ba hole le mekato efe kapa efe e potolohileng, mabota kapa siling ho netefatsa hore ha e fetohe sepheo se sa reroang, ka har'a FoI. Ka 200 cm ho tloha mojuleng oa LaserPING, FoI ke disk ea bophara ba 81.4 cm. Ho phahama ka holim'a bokaholimo ho ka ama mefuta e mengata ea ho lemoha, kaha libaka tse ling li tla bonahatsa ho fapana le ho kheloha:
Pin Litlhaloso
| Pin | Mofuta | Mosebetsi |
| GND | Fatše | Common Ground (phepelo ea 0 V) |
| VIN | Matla | Mojule o tla sebetsa pakeng tsa 3.3V le 5V DC. Setšoantšo sa VINtage boetse e beha logic-high level voltage bakeng sa phini ea SIG. |
| SEKA | I/O* | PWM kapa serial data input / output |
* Ha e le ka mokhoa oa PWM, phini ea SIG e sebetsa e le mokelikeli o bulehileng, o nang le 55 k-ohm pull-down resistor, ntle le li-pulses tsa karabo, tse khannoang ho VIN. Ha e le maemong a serial, phini ea SIG e sebetsa joalo ka tlhahiso ea push-pull.
Ho fihlella ha basebelisi ba ho qetela ba lipampiri tsa liteko, ntle le ho fetola mokhoa oa kamehla ha o qala ho tloha ho PWM ho ea ho Serial, ha ho tšehetsoe.
| Pad | Mofuta | Mosebetsi |
| DBG | Bula 'mokelli | Pin ea lenaneo la Coprocessor (PC1) |
| TS'ELISO | Bula 'mokelli | Coprocessor programming pin (PB5) |
| SCL | Bula 'mokelli | Oache ea sensor ea laser ea I2C e nang le 3.9K e hulang ho fihla ho 3V |
| RETS'ELISITSOE | Bula 'mokelli | Pin ea lenaneo la Coprocessor (PC6) |
| SDA | Bula 'mokelli | Laser sensor I2C data serial e nang le 3.9K hula-ho fihla ho 3V |
| MOSI | Bula 'mokelli | Coprocessor programming pin (PB3) |
| INTD | Push Hula (e sebetsang tlase) | Laser sensor Data Ready Interrupt
Ka tloaelo, logic e phahame, phini ena e theoha tlaase ha boleng bo bocha bo fumaneha, 'me e khutlela holimo hang ha boleng bo baloa. |
| MISO | Bula 'mokelli | Coprocessor programming pin (PB4) |
Koahela Tataiso ea Khetho ea Khalase
Mojule oa LaserPING o na le lesoba le ntseng le hola le behiloeng molemong oa ho nolofatsa ho kenya khalase ea sekoaelo ka boikhethelo. Sena se ka sebelisoa ho sireletsa sensor lits'ebetsong tse ling, kapa ho leka ka tšusumetso ea lisebelisoa tse fapaneng tse sebetsang e le lihloela maboneng a lebone la infrared. Ho fumana ts'ebetso e ntle ka ho fetisisa, melao e latelang e lokela ho nahanoa bakeng sa khalase ea sekoaelo:
- Lintho tse bonahalang: PMMA, Acrylic
- Phetiso ea Spectral: T< 5% bakeng sa λ< 770 nm, T> 90% bakeng sa λ > 820 nm
- Lekhalo la moea100µm
- Botenya: <1mm (e mosesane, e betere)
- Litekanyo: kholo ho feta 6 x 8 mm
PCB Litekanyo
Nalane ea Phetoho
Mofuta oa 1.0: tokollo ea mantlha. E jarollotsoe ho tloha Arrow.com.
Litokomane / Lisebelisoa
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PARALLAX INC 28041 LaserPING Rangefinder Module [pdf] Bukana ea Mosebelisi 28041, LaserPING Rangefinder Module, 28041 LaserPING Rangefinder Module, Rangefinder Module, Module |
