sharp红外测距传感器
知名厂商热门MCU芯片应用(一)：ADSP系列
知名厂商热门MCU芯片应用（一）：ADSP系列AD SP——美国模拟器件公司（ADI：Analog Device Instrument）生产的数字信号处理芯片（DSP:Digital Singal Process or），代表系列有 ADSP Sharc 211xx （低端领域），ADSP Ti ge rS harc 101，201（高端领域），ADSP Bl ac kfin 系列（消费电子领域）。
ADSP与另外一个著名的德州仪器（TI：Te xas Instrument）生产的芯片特点相比较，具有浮点运算强，SIM D（单指令多数据）编程的优势，比较新的Blackfin系列比同一级别TI产品功耗低。
缺点是ADSP不如TI的C语言编译优化好.TI已经普及了C语言的编程，而AD芯片的性能发挥比较依赖程序员的编程水平.ADSP的Linkport数据传输能力强是一大特色，但是使用起来不够稳定，调试难度大。
ADI提供的Visual DSP ++2.0， 3.0， 4.0， 4.5 编程环境，可以支持软件人员开发调试。
下面是电子发烧友网编辑推荐的几个关于ADSP系列芯片的一些典型应用。
一、一种基于ADSP-2188M的多传感器数据采集系统摘要：在移动智能体的研制中，能够实时地探测周围环境信息的传感器系统是至关重要的。
本文介绍了一种以DSP-ADSP-2188M为核心的传感器数据采集系统的软、硬件设计和工作原理，以及与上位机通信的设计和实现过程。
该系统可以应用于移动机器人、智能轮椅、自动制导车辆等移动智能系统中。
引言在自主移动机器人系统、智能轮椅、自动制导车辆等智能移动系统中，需要实时地采集未知和不确定环境中的信息，以完成避障、环境地图绘制、导航、定位等运作，然后进行路径规划等任务。
这些任务必须依靠能实时感知环境信息的传感器系统来完成。
为了在复杂环境中获取有效的信息，这些系统往往安装有种类各异的传感器。
目前，常用的有视觉、激光、红外、超声等传感器。
红外 测距传感器 原理
红外测距传感器原理
红外测距传感器是一种常见于机器人、自动化控制系统等领域的传感器，其主要原理是利用红外光线的特性进行距离测量。
红外光线是一种波长在可见光波长下方但高于无线电波的光线，它在空气中传播时不受可见光的干扰，可以穿过一些物体，因此应用广泛。
红外测距传感器通常由红外光发射器和接收器两部分组成。
红外光发射器会发射一束红外光线，光线经过物体后会被反射回来，接收器会接收到这个反射信号，并通过计算反射时间来确定物体与传感器之间的距离。
由于红外光线在空气中传播速度是已知的，因此可以通过测量反射时间来计算距离。
红外测距传感器的精度和测量范围受到多种因素的影响，例如光束的扩散、环境光的干扰等。
因此在使用红外测距传感器时需要注意选择合适的型号，以及考虑到环境因素对测量结果的影响。
总之，红外测距传感器是一种非常有用的测量工具，在机器人、自动化控制系统等领域有着广泛的应用前景。
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灭火机器人的设计中需要的传感器使用方法
灭火机器人的设计中需要的传感器使用方法在灭火机器人中主要使用了三类传感器，火焰传感器是用来探测火焰的；红外传感器用来测量小车到墙壁的距离，用来定位；灰度传感器主要是用来识别地面的白线。
一、火焰传感器。
远红外火焰探头将外界红外光的变化转化为电流的变化，通过 A/D转换器反映为 0~1023 范围内的数值。
外界红外光越强，数值越小。
因此越靠近热源，机器人显示读数越小。
根据函数返回值的变化能判断红外光线的强弱,从而能大致判别出火源的远近。
此外，远红外火焰探头探测角度为60°。
火焰传感器的原理图如下：使用中在火焰传感器上串联了一个电位器，这样便可以调整传感器的灵敏度。
在不同光线环境下，直接调整电位器，即可减少外界光对传感器的影响。
在以往的比赛中，一般都在机器人前方加装三个以上的火焰传感器来探测火焰，这样机器人到达房间门口即可感应到火焰是否存在，但是这种方案容易受相机闪光灯、阳光等影响，所以本系统中未采用。
本系统中采用的是单传感器加舵机的方案。
取一不透光黑色胶卷筒，在其尾部钻孔，将火焰传感器装入其中，再将胶卷筒固定在舵机舵盘上。
这样，火焰传感器就能随舵机转动，在转动的过程中进行A/D采样，实验证明抗干扰能力很好。
并且小车距离火焰2.6cm以外即可“看”到底部距地面15cm～20cm高度不定的火焰，满足比赛要求。
二、红外测距传感器。
红外测距传感器使用的是SHARP公司的GP2D12集成高精度传感器，测量有效距离为10cm~80cm，对应输出电压为2.5V~0V。
传感器外形及距离－电压曲线图如下：本系统中共使用了三个红外测距传感器（以下简称PSD），一个装于机器人正前方，另外两个分别装于机器人两侧，与前方PSD成90度。
主要用这三个PSD 来测量前方、左方、右方离开墙壁的距离。
但是在使用该传感器的过程中有很多不当的地方在此作一些说明。
传感器安装错误。
在组装机器人时，为了安装方便将传感器安装成如图4-4所示，这样安装就使得机器人在沿墙走的过程中如果遇到内角拐弯时就必需不断配合检测前方传感器的值才能完成拐弯动作如图4-6，增加了程序的复杂性，降低了系统的可靠性。
红外测距传感器工作原理
红外测距传感器工作原理红外测距传感器工作原理是通过发射红外光束来测量目标物体与传感器的距离。
红外测距传感器主要由红外发射器和红外接收器两部分组成。
红外发射器是利用LED（发光二极管）发射红外线的一个元件，其内部由发光二极管芯片和外部吸收层组成。
发光二极管芯片受到正极电压的驱动后，内部活性物质发生受激辐射，产生红外线辐射。
红外接收器是通过接收到红外线并转化为电信号来实现测距的一个元件。
红外接收器的核心是红外敏感元件，常用的包括光敏二极管、光敏电阻和光敏三极管等。
红外敏感元件在受到红外线照射后，会产生一定的电流或电阻变化，进而转化为可测量的电信号。
在红外测距传感器工作时，首先红外发射器会发射红外光束，该光束经过传感器的特殊光学元件（如凸透镜）进行聚焦和发散，然后照射在目标物体上。
目标物体表面会对红外光产生反射、散射和吸收，其中一部分红外光经过反射、散射后再次进入传感器的接收器中。
红外接收器接收到这部分红外光后，红外敏感元件会产生对应的电流或电阻变化信号。
根据目标物体与红外测距传感器的距离不同，接收到的红外光的强度也会有所不同。
通常情况下，目标物体越远离传感器，接收到的红外光的强度越弱；目标物体越靠近传感器，接收到的红外光的强度越强。
通过测量红外接收器输出的电流或电阻变化信号的强度，红外测距传感器可以计算得出目标物体与传感器之间的距离。
为了提高测量的精度和准确性，红外测距传感器通常会采用一系列的技术和方法来进行校准和装置设计。
例如，传感器可以通过在不同的距离下进行标定，建立起距离与输出信号之间的关系曲线。
通过对测得的输出信号进行算法分析和处理，可以精确地测量目标物体与传感器之间的距离。
红外测距传感器工作原理简单易懂，且具有较高的测量精度和稳定性。
因此，在很多应用领域，如无人机定位导航、机器人感知、智能家居和安防监控等方面，红外测距传感器被广泛使用。
创意之星机器人说明
v1.0 可编辑可修改创意之星机器人说明书目录1结构套件简介 ............................................................................ .. (3)结构件概述 ............................................................................ (3)C o n n F L E X连接结构 ............................................................................ (3)不同版本 ............................................................................ . (4)使用零件3D模型 ............................................................................ . (6)2控制器及电源 ............................................................................ .. (7)M u l t i F L E X™2-A V R控制器 ............................................................................ (8)M u l t i F L E X™2-P X A270控制器 ............................................................................ (9)电池和直流电源 ............................................................................ (12)3传感器............................................................................. .. (12)传感器的信号类型及电气规范 ............................................................................ (13)“创意之星”传感器接口 ............................................................................ (14)接近传感器 ............................................................................ .. (16)测距传感器 ............................................................................ . (19)声音传感器 ............................................................................ . (24)碰撞传感器 ............................................................................ . (26)倾覆传感器 ............................................................................ . (26)温度传感器 ............................................................................ . (27)光强传感器 ............................................................................ . (27)灰度传感器 ............................................................................ (28)视觉和语音传感器 ............................................................................ (28)4执行器............................................................................. (29)C D S5516机器人舵机 ............................................................................ .. (29)C D S5401大扭矩R/C舵机 ............................................................................ .. (32)B D M C1203电机驱动模块 ............................................................................ (33)F a u l h a b e r大功率减速电机............................................................................. .. (34)5N o r t h S T A R图形化开发环境 ............................................................................ (35)安装及使用介绍 ............................................................................ . (35)使用流程图开发 ............................................................................ (39)手写代码开发 ............................................................................ . (46)调试与在线监控 ............................................................................ (47)6其它部件............................................................................. (54)U P-D e b u g g e r下载调试器 ............................................................................ .. (54)W i F i无线网卡或以太网线缆............................................................................. (55)Z i g B e e无线模组 ............................................................................ .. (56)1结构套件简介结构件概述“创意之星”是一种模块化机器人组件，其特点是组成机器人的各种零件都是通用、可重组的，各个零件之间有统一的连接方式，零件之间可以自由组合，从而构建出各种各样的机器人构型。
红外距离传感器产品参考手册说明书
Laser type and high power narrow beam LED type BGS! Types with sensing distances of 100 mm and 300 mm Industry standard sizeHighly accurate height difference detection through low hysteresisRelatedproductsUniversal voltage typeBGS-2VP.384Higher accuracyBGS-HL,BGS-HDLP.310Transparent object detectionZ3R-QP.404 Selection tableFor the connector type, please purchase an optional JCN series connector cable.Options/AccessoriesConnector cablesL-shapedJCN-SCable length: 2 mJCN-5SCable length: 5 mJCN-10SCable length: 10 mJCN-LCable length: 2 mJCN-5LCable length: 5 mJCN-10LCable length: 10 mProtective mounting bracketUltra-durable 2 mm thick typeRust-resistant stainless steelS ensor is firmly secured using M3 Hexsocket head cap screwsT he bracket is also firmly secured usingM6 screwsLK-S01LK-S02 Meander detection of sheet materials Detection of multi-colored trays Detection of items on stainless steel lines Laser type application 1LED type application 1LED type application 2Straight326Laser, standard type BGS-ZL, BGS-Z seriesLaser types (Class 1) and high power narrow beam LED types are availableIdeal for height difference detection using low hysteresisIndustry standard sizeShort-range type hysteresis ≤ 3% (typical value)Mounting hole pitch: 25.4 mmLaser type (equipped with laser OFF input)High power narrow beam LED light source typeThe spot size of the laser type is ø1 mm at 100 mm (short-range type). Optimal for applications that in which small object detection and high repeat accuracy are required. It is also a Class 1 laser in which eye protection for workers is not necessary.*Classified as Class II in the US FDA standards.A short-range type with a sensing distance of 100 mm that achieves a low hysteresis of ≤ 3%. Demonstrates its strength in small height difference detection.* A mid-range type with a sensing distance of 300 mm that achieves a hysteresis of ≤ 5%.Features an industry standard pitch of 25.4 mm.Features a high power narrow beam LED light source . Because the spot light can be seen clearly even in brightfactories regardless of the LED light, confirmation of detection position is easier than for any other conventional model.*Compared to conventional models: Using LED light source.Laser typeH y s t e r e s i s (%)Sensing distance X (mm)High power narrow beam LED typeH y s t e r e s i s (%)Sensing distance X (mm)Laser, standard type BGS-ZL, BGS-Z seriesSpecifications*2. Classified as Class II in the US FDA standards.*3. D efined with center strength 1/e 2 (13.5%). There may be light leakage outside of the specified spot size. The sensor may be affected when there is a highly reflective object close to the target area.*4. Mounting bracket BEF-W100-A is included with the connector type.Specifications are subject to change without prior notice for product improvement purposes.Laser, standard type BGS-ZL, BGS-Z seriesI/O circuit diagramNPN output typePNP output typeConnector typeConnecting1 to 4 are connector pin No.NotesC onnect frame ground to the earth when the switching regulator is used for power supply. B ecause wiring sensor wires with high-voltage wires or power supply wires can result in malfunctions due to noise, which can cause damage, make sure to wire separately. Avoid using the transient state while the power is on (approx. 100 ms). T he connector direction is fixed as in the drawing to the right when you use L-shaped connector cable. Be aware that rotation is not possible.This product emits a Class 1 (II) visible laser beam that is compliant with IEC/JIS, FDA laser safety standards.Warning and explanation labels are affixed to the sides of the sensor.Laser type: BGS-ZL10 /BGS-ZL30Laser light precautions1 10 to 30 VDC2 Laser OFF input (laser type only)3 0 V4 Control output(Pin con guration)Sensor sideConnector cable sideWarningDo not look directly at the laser or intentionally shine the laser beam in another person’s eyes.Laser, standard type BGS-ZL, BGS-Z seriesDimensionsSensorConnector cable (optional)Cable typeConnector typeJCN-S, JCN-5S, JCN-10SJCN-L, JCN-5L, JCN-10L(Unit: mm)Light ON / Dark ONselection switchOutput indicator (orange)Light ON / Dark ONselection switchø4.7, 4-wire × 0.325 mm 2ø4.7, 4-wire × 0.325 mm 2Laser, standard type BGS-ZL, BGS-Z seriesConnector type (when using BEF-W100-A)(Unit: mm)Mounting bracketCable type (when using BEF-W100-B)Laser, standard type BGS-ZL, BGS-Z seriesTypical characteristic dataBGS-ZL10 Laser typeBGS-ZL30 Laser type③S e n s i n g a r e a Y (m m )④③Distance X (mm)④③D i s t a n c eY (m m )④③Sensing distance X (mm)④③Sensing distance (mm)④③Sensing distance (mm)④③H y s t e r e s i s (%)④③S e n s i n g d i s t a n c e (m m )④W h i t e p a p e rB l a c k p a p e rV e n e e b o a r d C a r d b o a r dB l a c k r u b b e rB l a c k s p o n g ③S e n s i n g a r e a Y (m m )④③D i s t a n c e Y(m m )④③H y s t e r e s i s (%)④Hysteresis51002003001015203025③S e n s i n g d i s t a n c e (m m )④③O p t i c a l p l a n e ④③Sensing distance X (mm)④③Sensing distance (mm)④③Distance X (mm)④③Sensing distance (mm)④White paperGray paper/white paper Black paper/white paperW h i t e p a p e rB l a c k p a p e rV e n e e b o a r dC a r d b o a r dB l a c k r u b b e rB l a c k s p o n gLaser, standard type BGS-ZL, BGS-Z seriesBGS-Z10 LED typeBGS-Z30 LED type③S e n s i n g d i s t a n c e (m m )④③S e n s i n g a r e a Y (m m )④③Distance X (mm)④③D i s t a n c e Y (m m )④③Sensing distance X (mm)④③O p t i c a l p l a n e ④③Sensing distance (mm)④③H y s t e r e s i s (%)④③Sensing distance (mm)④W h i t e p a p e rB l a c k p a p e rV e n e e b o a r dC a r d b o a rdB l a c k r u b b e rB l a c k s p o n g③S e n s i n gd i s t a n ce (m m )④③H y s t e r e s i s (%)④③Sensing distance (mm)④③S e n s i n g a r e a Y (m m )④③D i s t a n c e Y (m m )④③Sensing distanceX (mm)④③Distance X (mm)④1020304050③Sensing distance (mm)④③O p t i c a l p l a n e ④5W h i t e p a p e rB l a c k p a p e rV e n e e b o a r dC a r d b o a r dB l a c k r u b b e rB l a c k s p o n g。
Panasonic GridEYE 红外感应器FAQ说明书
Normal mode: Frame rate can be 1 frame/s or 10 frames/s Stand-by mode: Frame rate is same than Normal Mode but temperature register is only updated every 10 or 60 sec Sleep mode: Temperature register is not updated Reading and writing is possible while all 3 modes!
FAQ
Is the typ. power consumption different with different frame rates?
No, the typ. power consumption is always the same.
4 FAQ – GridEYE Sensor
Panasonic
What is the recommended wavelength of GridEYE?
The lens and the optical filter of GridEYE form a band-pass characteristic for wavelengths between 5 and 13μm.
2 FAQ – GridEYE Sensor
Panasonic
FAQ
What ist the set up time after “Initial Reset” (GridEYE always powerd on)
夏普GP2Y0AH01K0F型高精度位移传感器说明书
GP2Y0AH01K0FGP2Y0AH01K0FHigh-precision Displacement Sensor UnitMeasuring distance: 4.5 to 6.0 mm Analog output type■Applications1. Copier2. Multi-function equipment3. Laser beam printer■Features1. High-accuracy typeDistance measuring range : 4.5 to 6.0 mm 2. Analog output type3. Package size : 27×21.2×8.5 mm4. Consumption current : Typ. 20 mA5. Supply voltage : 4.5 to 5.5 V6. Resolution : 50μm■Agency approvals/Compliance1. Compliant with RoHS directive(2002/95/EC)2. Content status of six substances specified in“ Management Methods for Control of Pollution Caused by Electronic Information Products Regulation ” (popular name : China RoHS )(Chinese : 电子信息产品污染控制管理办法); refer to page 7Notice The content of data sheet is subject to change without prior notice.In the absence of confirmation by device specification sheets, SHARP takes no responsibility for any defects that may occur in equipment using any SHARP ■DescriptionGP2Y0AH01K0F is a distance measuring sensor unit,composed of an integrated combination of PSD(position sensitive detector) , IRED (infrared emitting diode) and signal processing circuit.The variety of the reflectivity of the object, theenvironmental temperature and the operating duration are not influenced easily to the distance detection because of adopting the triangulation method.This device outputs the voltage corresponding to the detection distance. So this sensor can also be used as a proximity sensor.■Block diagram■Outline Dimensions(Unit : mm)Product mass : approx. 3.0gSignalprocessing circuitPSDLEDDistance measuring ICVoltage regulatorOscillation circuitOutput circuitLED drive circuit①V O②GND③V CCTerminalSymbol ①Output terminal voltage V O ②GroundGND ③Supply voltageV CC331321.234.52-7.5PCB2-1.5±0.15Surface:Dustproof filterConnector Reflective object13.510.18.5±0.152-R 3.75(Note 4)(1.3)Stamp2Y 0A H 01 F 27*7.45*9.4Light emitter slitLight receiving slit27Case(Note 5)Distance to reflective object2-Ø3.2 h ol e①③A Note 1 : * marked dimensions are the width between the body edge and the center of light emitting slit, and the width between the slit centers of light emitting and light receiving slits.Note 2 : Unspecified tolerance shall be ± 0.3 mm.Note 3 : Dimensions in parenthesis are shown for reference Note 4 : Do not touch the lead pins of connector at mounting.Note 5 : Dimension of may be larger than dimension of .Stamp (Example)Model nameProduction year : Last digit of prod. yearProduction month : Jan. to Sep. ; 1 to 9Oct. ; X, Nov. ; Y , Dec. ; Z 2Y0AH01 F27B ABConnector :J.S.T.TRADING COMPANY , LTD.S3B-PH(T a =25℃,V CC =5V)■Absolute Maximum RatingsSymbol Rating Unit Supply voltageV CC -0.3 to +7V Output terminal voltage V O -0.3 to V CC +0.3V Operating temperature T opr -10 to +60℃Storage temperatureT stg-40 to +70℃Parameter■Electro-optical CharacteristicsParameterSymbol Conditions MIN.TYP.MAX.Unit Average supply current I CC (Note 1)―2040mA Distance measuring ΔL (Note 1)4.5― 6.0mm Output voltageV O L=6.0mm (Note 1)0.350.50.65V VOutput voltage difference between L=4.5mm and L=6.0mm (Note 1)ΔV OOutput voltage differential1.451.702.0■Recommended operating conditions(T a =25℃,V CC =5V)* L : Distance to reflective objectNote 1 : Using reflective object : White paper (Made by Kodak Co., Ltd. gray cards R-27・white face, reflectance; 90%)ParameterSymbol Rating Unit Supply voltageV CC4.5 to5.5VFig. 1 Timing chartVcc(Power supply)nth outputnthmeasurementSecondmeasurementFirst measurementSecond outputFirst output Unstable output MAX 5.0ms38.3ms±9.6msDistance measuring operatingVo(Output)Fig. 2 Example of distance measuring characteristics (output)0.00.51.01.52.02.5Distance to reflective object (mm)O u t p u t v o l t a g e (V )White paper(Reflectance ratio 90%)4.54.64.74.84.95.05.15.25.35.45.55.65.75.85.96.0■Notes●Advice for the optics• The lens of this device needs to be kept clean. There are cases that dust, water or oil and so on deteriorate the characteristics of this device. Please consider in actual application.• Please don’t do washing. Washing may deteriorate the characteristics of optical system and so on.Please confirm resistance to chemicals under the actual usage since this product has not been designed against washing.●Advice for the characteristics• In case that an optical filter is set in front of the emitter and detector portion, the optical filter which has the most efficient transmittance at the emitting wavelength range of LED for this product (λ = 870 ± 70nm), shall berecommended to use. Both faces of the filter should be mirror polishing. Also, as there are cases that the characteristics may not be satisfied according to the distance between the protection cover and this product or the thickness of the protection cover, please use this product after confirming the operation sufficiently in actual application.• In case that there is an object near to emitter side of the sensor between sensor and a detecting object, please use this device after confirming sufficiently that the characteristics of this sensor do not change by the object.• When the detector is exposed to the direct light from the sun, tungsten lamp and so on, there are cases that it can not measure the distance exactly. Please consider the design that the detector is not exposed to the direct light from such light source.• Distance to a mirror reflector can not be sometimes measured exactly.In case of changing the mounting angle of this product, it may measure the distance exactly.• In case that reflective object has boundary line which material or color etc. are excessively different, in order todecrease deviation of measuring distance, it shall be recommended to set the sensor that the direction of boundary line and the line between emitter center and detector center are in parallel.• In order to decrease deviation of measuring distance by moving direction of the reflective object, it shall be recommended to set the sensor that the moving direction of the object and the line between emitter center and detector center are vertical.●Advice for the power supply • In order to stabilize power supply line, we recommend to insert a by-pass capacitor of 10μF or morebetween Vcc and GND near this product.(Incorrect)(Correct)(Incorrect)(Moving direction)(Correct)(Moving direction)●Notes on handling• There are some possibilities that the internal components in the sensor may be exposed to the excessive mechanical stress. Please be careful not to cause any excessive pressure on the sensor package and also on the PCB while assembling this product.●Cleaning InstructionsSolvent cleaning :Solvent temperature 45℃ or less, Immersion for 3 min or lessUltrasonic cleaning :The effect to device by ultrasonic cleaning differs by cleaning bath size, ultrasonic power output, cleaning time, PCB size or device mounting condition etc.Please test it in actual using condition and confirm that doesn't occur any defect before startingthe ultrasonic cleaning. The cleaning shall be carried out with solvent below.Recommended Solvent materials :Ethyl alcohol, Methyl alcohol, Isopropyl alcohol●Presence of ODC etc.✓✓✓Infrared datacommunication device*✓✓CategoryToxic and hazardous substancesLead (Pb)Mercury (Hg)Cadmium(Cd)Hexavalent chromium (Cr 6+)Polybrominated biphenyls (PBB)Polybrominateddiphenyl ethers(PBDE)This product shall not contain the following materials.And they are not used in the production process for this product.Regulation substances : CFCs, Halon, Carbon tetrachloride, 1.1.1-Trichloroethane (Methylchloroform)Specific brominated flame retardants such as the PBB and PBDE are not used in this product at all.• The RoHS directive (2002/95/EC)This product complies with the RoHS directive (2002/95/EC).Object substances: lead (except for lead in glass of electronic components), cadmium, hexavalent chromium, polybrominated biphenyls (PBB) and polybrominated diphenyl ethers (PBDE)• Content of six substances specified in “ Management Methods for Control of Pollution Caused by Electronic Information Products Regulation ” (Chinese : 电子信息产品污染控制管理办法)✓: indicates that the content of the toxic and hazardous substance in all the homogeneous materials of the partis below the concentration limit requirement as described in SJ/T 11363-2006 standard.* : indicates that the content of the toxic and hazardous substance in at least one homogeneous material of the part exceeds the concentration limit requirement as described in SJ/T 11363-2006 standard.Lead in glass of electronic components (designated by “*” in the above table) are exempt from the RoHS directive (2002/95/EC), because there is no effective way to eliminate or substitute them by present scientific technology.■Package specificationProductTrayProductTray section MAX. 100 pieces per tray■Important Notices· The circuit application examples in this publication are provided to explain representative applications of SHARP devices and are not intended to guarantee any circuit design or license any intellectual property rights. SHARP takes no responsibility for any problems related to any intellectual property right of a third party resulting from the use of SHARP's devices.· Contact SHARP in order to obtain the latest device specifi-cation sheets before using any SHARP device. SHARP reserves the right to make changes in the specifications, characteristics, data, materials, structure, and other contents described herein at any time without notice in order to improve design or reliability. Manufacturing locations are also subject to change without notice.· Observe the following points when using any devices in this publication. SHARP takes no responsibility for damage caused by improper use of the devices which does not meet the conditions and absolute maximum ratings to be used specified in the relevant specification sheet nor meet the following condi-tions:(i) The devices in this publication are designed for use in general electronic equipment designs such as:--- Personal computers--- Office automation equipment--- Telecommunication equipment [terminal]--- Test and measurement equipment--- Industrial control--- Audio visual equipment--- Consumer electronics(ii) Measures such as fail-safe function and redundant design should be taken to ensure reliability and safety when SHARP devices are used for or in connection with equipment that requires higher reliability such as:--- Transportation control and safety equipment (i.e.,aircraft, trains, automobiles, etc.)--- Traffic signals--- Gas leakage sensor breakers--- Alarm equipment--- Various safety devices, etc.(iii) SHARP devices shall not be used for or in connection with equipment that requires an extremely high level of reliability and safety such as:--- Space applications--- Telecommunication equipment [trunk lines]--- Nuclear power control equipment--- Medical and other life support equipment (e.g.,scuba).· If the SHARP devices listed in this publication fall within the scope of strategic products described in the Foreign Exchange and Foreign Trade Law of Japan, it is necessary to obtain approval to export such SHARP devices.· This publication is the proprietary product of SHARP and is copyrighted, with all rights reserved. Under the copy-right laws, no part of this publication may be repro-duced or transmitted in any form or by any means, electronic or mechanical, for any purpose, in whole or in part, without the express written permission of SHARP. Express written permission is also required before any use of this publication may be made by a third party.· Contact and consult with a SHARP representative if thereare any questions about the contents of this publication.Sheet No.: E4-A00401EN。
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红外测距传感器：Sharp红外传感器的原理以及使用技巧
2009-02-23 21:20
在过去几年中，Sharp开发了很多种红外距离传感器。
这些传感器不但体积小，功耗也很低。
这篇文章就简单的介绍一下这些传感器的不同点，使用方法，接口方法以及一些使用上的小技巧。
工作原理：
Sharp的红外传感器都是基于一个原理，三角测量原理。
红外发射器按照一定的角度发射红外光束，当遇到物体以后，光束会反射回来，如图1所示。
反射回来的红外光线被CCD检测器检测到以后，会获得一个偏移值L，利用三角关系，在知道了发射角度a，偏移距L，中心矩X，以及滤镜的焦距f以后，传感器到物体的距离D就可以通过几何关系计算出来了。
图1：三角测量原理
可以看到，当D的距离足够近的时候，L值会相当大，超过CCD的探测范围，这时，虽然物体很近，但是传感器反而看不到了。
当物体距离D很大时，L值就会很小。
这时CCD检测器能否分辨得出这个很小的L值成为关键，也就是说CCD 的分辨率决定能不能获得足够精确的L值。
要检测越是远的物体，CCD的分辨率要求就越高。
非线性输出：
Sharp GS2XX系列的传感器的输出是非线性的。
没个型号的输出曲线都不同。
所以，在实际使用前，最好能对所使用的传感器进行一下校正。
对每个型号的传感器创建一张曲线图，以便在实际使用中获得真实有效的测量数据。
下图是典型的Sharp GP2D12的输出曲线图。
图2：Sharp GP2D12输出曲线
从上图中，可以看到，当被探测物体的距离小于10cm的时候，输出电压急剧下降，也就是说从电压读数来看，物体的距离应该是越来越远了。
但是实际上并不是这样的，想象一下，你的机器人本来正在慢慢的靠近障碍物，突然发现障碍
物消失了，一般来说，你的控制程序会让你的机器人以全速移动，结果就是，"砰"的一声。
当然了，解决这个方法也不是没有，这里有个小技巧。
只需要改变一下传感器的安装位置，使它到机器人的外围的距离大于最小探测距离就可以了。
如图3所示:
图3：可以避免探测误差的安装图示
型号对比：
目前Sharp的红外线传感器有如下几种类型：
GP2D02 （串口输出）探测范围 10cm-80cm
GP2D05 （数字输出）探测范围固定的24cm
GP2D12 （模拟输出）探测范围 10cm-80cm
GP2D15 （数字输出）探测范围 24cm
GP2D120 （模拟输出）探测范围 4cm-30cm
GP2YOAO2YK （模拟输出）探测范围 20cm-150cm
GP2Y0D02YK （数字输出）探测范围 80cm
所有的模拟输出，其输出电压和距离成反比，数字输出只能检测在范围内物体是存在还是不存在，而不能提供距离的检测。