USER MANUAL - K
Contents
1. 3 Attended issues in use 3 1 Direction of the reflective object ss tstenhepesecctyen secre we cee teenie cen inenctetens 3 2 Moving direction of moving reflective object reeeee reece ec eee etree eee ee 3 3 Noise resistance characteristics 3 4 External disturbing light resistance characteristics 3 5 Output at glittering reflective Object 2 ee eens teen eee eee e reer eer ee 3 5 1 In case of glittering reflective object with no diffused reflective light ingredient Mirror Glass etc 3 5 2 In case of lustrous reflective object with diffused reflective light ingredient Painted metal Colored vinyl etc 3 6 Input signal 3 7 Ambient temperature 3 8 Optical conditions in front of the sensor 4 Con2. 2 80 1560 60 0 5 C Therefore C 54 2 So the relation between D and L of that sample shall be shown in the following D 1560 L1 0 5 54 2 Then the sample output at D 202 DEC is 202 1560 L1 0 5 54 2 Therefore L1 10 icm As mentioned above for example by measuring the output at L1 60cm before C for each sample can be got then the distance to the reflective object L1 can be detected by sensor output D Reflective object Example of output curve deviation Relation explanation Output D gt Sensor case Emitter side PSD Distance to the reflective object L Fig 1 Example of GP2D02 distance characteristics White Gray chart R 27 made by Kodak 90 reflective paper 250 Gray Gray chart R 27 made by Kodak 18 refl ctive paper 200 150 100 Output DEC 50 0 20 40 60 80 100 120 Distance to the object cm Fig 2 2 1 L1 0 5 characteristics White Gray chart R 27 made by Kodak 90 reflective paper Gray Gray chart R 27 made by Kodak 18 reflective paper Example of GP2DO 250 200 Output DEC 0 0 02 0 04 0 06 0 08 0 1 0 12 0 14 0 16 0 18 0 2 1 L1 0 5 em 4 2 Concrete application example of the GP2D05 Since the GP2D05 is not adjusted the detecting threshold distance at shipping from Sharp please adjust the built in volume to get the detecting threshold distan
3. 2 Average dissipation current value during distance measuring operation when detecting of input signal Vin as shown in the timing chart 3 Vin terminal Open drain drive input Conditions Vin terminal current at Vin OFF state 1 u A Vin terminal current at Vin ON state 0 3V E Test Circuit 1 Test circuit z Distance measuring sensor 9 2 Vin input signal for measurement 70ms 9 0 1 5 0 1 5 O 8 bit serial output read Vin signal input 1 6ms 2ms j i SHARP GP2D02 E Timing Chart Vin Output E 70ms or more 0 2ms or less ims or more mal 1 5ms or more gt LI 1 5ms or more me Power OFF i Example of distance measuring output 8 bit Fig 1 Distance Measuring Output vs Distance to Reflective Object 220 200 180 160 140 120 100 80 60 40 20 0 Distance measuring output DEC MSB gray surface rei White paper KODAK made gray chart R 27 white surface reflectivity 90 Gray paper KODA made gray chart R 27 ectivity 18 White Gray 20 40 60 80 100 120 140 Distance to reflective object L cm Xx LSB LSB SHARP GP2D02 Fig 2 Detection Distance vs
4. comes into the detector surface there are cases that it can not measure exactly Please consider the design that the direct light from such light source does not come into the detector surface External disturbing light resistance characteristics of the GP2D02 05 are the following GP2D02 05 Illuminate characteristics i e 5 cn 30 cn 50 cn 100 Measuring Distance cm 0 5000 10000 15000 20000 25000 30000 35000 Illuminance x Example of external disturbing light resistance characteristics measuring method Distance to the object L e o Reflective object White paper Ilumi te uminance meter made by Kodak Co Ltd ii Pane 90 reflective paper Sun light 3 5 Output at glittering reflective object 3 5 1 In case of glittering reflective object with no diffused reflective light ingredient Mirror Glass LED light beam has an expanse Half intensity angle for LED in GP2D02 05 A 1 5 Therefore in case that there is glittering reflective object at A point in the following drawing the glittering reflected light comes into the detecting device from B point and it shall be the same output when there is the diffused lustrous reflective object at C point so that accurate measuring is not possible Glittering reflective object A LED Position sensing device PSD 3 5 2 In case of lustrous reflective o
5. the operation by test samples by Sharp shall be the folowing 4 to 30cm 50 to 400cm 11
6. 0nm which is used in the sensor should be used Also the clearance between the sensor and the optical filter should be set at Imm or less imm or less Sensor Optical filter When an optical filter is used please use it after confirming the operation in actual application 4 Concrete application example of the GP2D02 05 4 1 Concrete application example of the GP2D02 Output conversion The relation between the output of the GP2D02 D and the distance to the reflective object L can be shown in the following D b L1 a C 1 However actual deviation shall deviate mainly shifting the folowing output curve Distance characteristics toward up and down direction This is caused by the positioning tolerance between the detecting device PSD and the front lens in assembly This deviation will be appeared as C in 1 Since a and b can be assumed as almost constant value actual relation between D and L shall be shown in the following D 1560 L1 0 5 4 C 2 Output conversion method As shown in 2 the output of the GP2D02 D is in proportion to 1 L1 0 5 at L1 10 to 80cm The relation graph between output D of the sample which has output characteristics shown in Fig 1 and 1 L1 0 5 is shown in Fig 2 By getting C for each sample using 2 the distance to the reflective object L1 can be calculated by output value D Example Sample shown in Fig l at Ll 60cm D 80 DEC Using
7. 3 3 Noise resistance characteristics Conductive resin is used as the case material In order to avoid an influence of output signal by external disturbing noise it shall be recommended that this case is grounded for use Noise resistance characteristics of the GP2D02 without with grounding are the following Without case grounding White 90 reflective paper No inverter fluorescent light Gray 18 reflective paper No inverter fluorescent light White 90 reflective paper Inverter fluorescent light without case grounding gt Gray 18 reflective paper Inverter fluorescent light without case grounding 200 S 150 B oo kelaa J O 50 H t 0 0 10 20 30 40 50 60 70 80 Distance to the object cm With case grounding White 00 reflective paper No inverter fluorescent light Gray 18 reflective paper No inverter fluorescent light a White 90 reflective paper Inverter fluorescent light with case GND grounding Gray 18 reflective paper Inverter fluorescent light with case GND grounding 200 Output DEC 30 40 Distance to the object cq Measuring method for noise resistance characteristics Inverter fluorescent light eae Reflective object ae Sensor 3 4 External disturbing light resistance characteristics If the direct light from light source such as the sun tungsten lamp etc
8. KOALA IR TRIANGULATION SENSOR USER MANUAL Version 1 0 K Team S A Lausanne 30 Novembre 2001 Documentation author K Team S A Chemin du Vuasset CP 111 1028 Pr verenges Switzerland info k team com http www k team com Trademark Acknowledgements GP2D02 Sharp Matlab The Mathworks LabView National Instruments Koala K Team S A NOTICE e The contents of this manual are subject to change without notice e The information contained in this manual is to the best of our knowledge complete accurate and up to date However K Team can assume no responsibility or liability for any inaccuracies or omissions Should any errors be detected please inform K Team S A Koala IR Triangulation Sensor USER MANUAL 2 Contents 3 We GENERALS STILE S 5c 5 3 ZSONAR SPECIFICATIONS onres 4 2 1 ERROR BOOKMARK NOT DEFINED 3 GETTING STARTED 4 A E N ESA T I E AA EEA AA 1 TN ERROR BOOKMARK NOT DEFINED Sr CALIBRATION Yean R a A N E EAER ERROR BOOKMARK NOT DEFINED 4 USING THE SONAR SENSORS 4 41 USING THE SERIAL PORT niori or ER E ahaninchandhanaddnahanakadauidn aidan daduaudn diac 4 4 2 USING A CUSTOM C PROGRAM csssssssssscesseseese
9. Sensing Range Test Method for Sensing Range Characteristics 100 X_ Jat X 90 Sensing distance 80 cm J 80 ye E A g 60 Reflective object 9 S 8S 50 White paper 5 reflectivity 90 2 E j Detecti ti a 15 etecting portion a 8 0 F A Emitting portion 20 10 0 Sensing distance 20cm Sensor 100 50 0 50 100 Sensing range X mm Fig 3 Detection Distance vs Illuminance Test Method for Anti External Disturbing 100 Light Characteristics 90 Distance to reflective object 80 70 60 Reflective object 50cm KODAK made white paper Illuminance meter reflectivity 90 50 Sensor 40 30cm 30 Detection distance L cm Sunlight 20 15cm 0 0 5000 10000 15000 20000 25000 30000 Illuminance August 10 1995 GP2D02 05 Application Note Opto System Project Team Opto Electronic Devices Div ELECOM Group SHARP CORPORATION GP2D02 05 Application Note Contents l General description se sesertere riie a aieeaa 2 Measuring principal and features of this sensor 2 1 Principal of the triangulation 2 2 Features of the GP2D02 05
10. ameter Symbol Rating Unit Supply voltage Vcc 0 3 to 10 Vv lInput terminal voltage 03 to 3 Vv Output terminal voltage 0 3 to 10 Vv Operating temperature T opr 10 to 60 C Storage temperature T stg 40 to 70 C 1 Open drain operation input E Operating Supply Voltage Symbol Rating Unit Vcc 4 4 to 7 In the absence of confirmation by device specification sheets SHARP takes no responsibility for any defects that occur in equipment using any of SHARP s devices shown in catalogs data books etc Contact SHARP in order to obtain the latest version of the device specification sheets before using any SHARP s device SHARP GP2D02 Ta 25 C Vec 5V E Electro optical Characteristics Parameter Symbol Conditions MIN TYP MAX Unit Distance measuring range AL j 10 80 cm r Von Output voltage at High L 20cm Vcc 0 3 Vv Output terminal voltage Vor Output voltage at Low 1 0 3 V D L 80cm 1 75 DEC Distance characteristics of output Output change at L 80 cm to 20 cm 1 48 58 68 DEC er at operating Icc L 20cm 1 2 22 35 mA Dissipation current at OFF state Loft L 20cm 1 3 8 uA Vin terminal current Ivin Vin 170 280 uA Note L Distance to reflective object DEC Decimalized value of sensor output 8 bit serial 1 Reflective object White paper reflectivity 90
11. bject with diffused reflective light ingredient painted metal Colored vinyl etc In case that lustrous reflective object with diffused reflective light ingredient shall be measured accurate measuring for the distance between the sensor and the object is possible by tilting the lustrous reflective object like the following drawing since the glittering reflective light ingredient runs away to Y direction and the diffused reflective light ingredient comes into the detecting device PSD N Glittering reflective Sensor light Diffused reflective ingredient light ingredient Lustrous reflective object 3 6 Input signal Input should be current driving input in order to improve the measuring accuracy Circuit example Vin terminal Input Sensor 10k 3 7 Ambient temperature Example of ambient temperature characteristics of the GP2D02 05 are the following Example of the temperature characteristics Reflective object White paper Output DEC Temperature Ta C 3 8 Optical conditions in front of the sensor 0 Please consider that there is no object which interrupt the LED beam from sensor or no object which interrupt the reflective light from the reflective object to the detector portion Sensor Sensor In case that an optical filter is set in front of the sensor the filter must have high transmittance with emitted spectrum wavelength of LED 4 850nm 7
12. ce by customer If the detecting threshold distance shall be adjusted at around L 80cm there are cases that the detecting accuracy is deteriorated remarkably Then consult Sharp At adjusted threshold at L 25em a I i l 0 10 20 30 40 50 60 70 80 90 100 Distance mm o White Reflective ratio 90 Gray Reflective ratio 1896 At adjusted threshold at L 50cm 5 i 5 0 10 20 30 40 50 60 70 80 90 100 Distance mm e White Reflective ratio 90 g Gray Reflective ratio 18 l l At adjusted threshold at L 70cm PE H 3 0 10 20 30 40 50 60 70 80 90 100 i Distance mm e White Reflective ratio 90 g Gray Reflective ratio 18 10 5 Supplement Modification of the measuring range Reflective object The following expression shall be realized by geometrical relation among the distance to the reflective object L Base line length A Focal distance of the lens f and Optical spot position on PSD X AXf L For example when possible measuring range would like to be changed without any change of PSD detector size it can be realized by changing the base line length A or the focal distance of the lens f Current distance measuring sensors GP2SD02 05 have the measuring range 10 to 80cnm Modified measuring range type which is confirmed
13. crete application example of the GP2D02 05 4 1 Concrete application example of the GP2DO2 rere sere e ee eer ee ere reer reece eee 4 2 Concrete application example of the GP2DO5 crrrrrrrrrrer nner eer r errr errs cnet ecceeee D gt SUDDISMIENE 1 General Description This GP2D02 05 application note has been completed by preparing several characteristic data for customers convenient reference when the GP2D02 05 are used Please utilize this application note for customers design This application note should be for reference however please make sure them in actual mounted condition before using 4 2 Measuring principal and features of this sensor 2 1 Principal of triangulation Reflective object Optical spot position on PSD shall be changed A point when reflective object is at A point and at B point By processing this optical spot position electrically the position distance of the reflective object on straight line can be detected B point gt Lens D Lens LED Position sensing device 2 2 Features of the GP2D02 05 PSD Compact high performance distance measuring sensor with built in PDS Infrared LED and signal processing circuit 69 Little influence by color and reflective ratio of the reflective object High accuracy measuring by sequential position detection and mean processing data output 9 GP2D02 8 bit serial measured output which is possible to connect
14. directly with micro computer GP2D05 1 bit High Low measured output The measuring range can be adjustable as threshold level at any distance by adjusting the built in volume Low current consumption at stand by mode Current consumption at stand by mode TYP 3A 3 Attended issues in use 3 1 Direction of the reflective object In case that reflective object has boundary line which material or color etc are excessively different in order to decrease 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 det ctor center are in parallel Sensor Sensor x il T Reflective object Reflective object which has boundary line which has boundary line 3 2 Moving direction of moving reflective object 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 Sensor O Sensor NN Moving Pau direction direction Detectable area vs moving object example of characteristics are the following Example of the detectable area characteristics of the GP2D02 Measuring method 100 90 80 70 60 oo ee ol 30 Measuring distance L j 10 i 200 150 100 50 0 50 100 150 Detectable area X mm
15. end_task 5000 var_change_led 0 Process 1 k Koala IR Triangulation Sensor USER MANUAL 5 xf void process_1 printf Test SHARP proximity sensors r n printf r n n for printf Sharp value 53 311 53 311 3 31i sens_get_sharp_value 0 sens_get_sharp_valu sens_get_sharp_value 2 sens_get_sharp_valu tim_suspend_task 200 kill_task tim_get_id MAIN Initialise the used managers tim amp bios are initialised at the start up Launch all the processes Kill the main At this moment only the launched processes ar xecuted void main void uint32 viIDProcess 3 int32 status static char prName_0 TUS et 0 process EF 98 Rev 1 00 r n static char prName_1 TUSSE 1 process EF 98 Rev 1 00 r n com_reset tim_reset sens_reset status install_task prName_0 800 process_0 if status 1 exit 0 vIDProcess 0 uint32 status status install_task prName_1 800 process_1 if status 1 exit 0 vIDProcess 1 uint32 status Koala IR Triangulation Sensor USER MANUAL 6 Appendix A Specification of GP2D02 and Application Notes Koala IR Triangulation Sensor USER MANUAL SHARP GP2D02 GP2D02 E Features 1 Impervious to color and reflectivity of reflective object 2 High
16. eseeseescencesceseeseeseeseeseeseeseeseeseeseesecseeseeseeseeseesecsecsecsecsecsecsecsecsecaecsecaesaeeaeeaeeaees 5 5 SOFTWARE EXAMPER scssssccsssiscecestacessucsssectctestentactscesteoledbasesnsasesaesectcbedessssientussectatestsduesersecocsbadecectesdssacb elesecbbabessstbedecact ncesse 5 1 Introduction Thanks for choosing the Infrared Triangulation Sensor extension for Koala This extension for Koala greatly expands the obstacle detection capability of the Koala The package includes 4 Sharp GP2D02 compact high sensitive distance measuring sensor These sensors can detect obstacles over a wide range from 10cm to 80cm and complement the Koala built in infrared proximity sensors which have a range from 5cm to 20cm Koala can thus use the sonar sensors for exploring wide open areas while using the infrared sensors as a virtual bumper and for negotiating tight spaces 1 1 Generalities For the latest information on K Team products please visit http www k team com Safety Precautions e Check the operating voltage of all components before operation It must correspond to your local power supply The operating voltage is indicated on the nameplate of the power supply e Don t plug or unplug any connector when the system is switched ON All connections including adding or disconnecting extensions must be made when the robot and the interface are switched OFF otherwise damage can occur e Switch OFF the robot and any additi
17. onal power supplies if you will not use them for more than a day e Do not open the robot unless explicitly directed to do so by K Team technicians Perform this operation by carefully following the instructions given in appendix C e Do not manually force any mechanical parts such as pushing the robot and forcing its wheels If you have any questions or problems concerning the robot please contact your Koala dealer Recycling Koala IR Triangulation Sensor USER MANUAL 3 Think about the end of life of your robot Parts of the robot can be recycled and it is important to do so It is for instance important to keep batteries out of the solid waste stream When you throw away a battery it eventually ends up in a landfill or municipal incinerator These batteries can contribute to the toxicity levels of landfills or incinerator ash By recycling the batteries through battery recycling programs you can help to create a cleaner and safer environment for generations to come For these reasons please take care to recycle your robot and robot accessories at the end of its life cycle by for instance sending back the old equipment to the manufacturer or to your local dealer Thanks for your contribution to a cleaner environment 2 Specifications The Koala IR Triangulation package includes four GP2D02 cf in attachment GP2D02 Specifications and GP2D02 05 Application Note Two of them are on the right and left side of the Koala The two other
18. p message is displayed you can read the 4 sensors directly using the command V Koala IR Triangulation Sensor USER MANUAL 4 This simple serial protocol is very flexible and lets you write control routines using any application that supports serial port communication e g Matlab LabView etc You do of course need a serial cable connected to the robot at all times or you may use a radio modem to transmit the commands to the host computer 4 2 Using a Custom C Program For the ultimate in speed and flexibility you can write a custom C application compiled for the Koala and stored in its onboard flash memory To read the analog inputs you must use the command sens_get_sharp_value input which returns a 8bit value delivered by the sensor Please see the example file sonar c given in section 5 for more details For information on how to compile programs for Koala please see the K Team website www k team com for more information 5 Software Example Test Sharp 4 Author Jaquet C 30 07 2000 Modifs Project Koala Goal Test SHARP Jaquet k team com A Ne Ne Ne include lt sys kos h gt include lt stdlib h gt include lt stdio h gt include lt string h gt Process 0 This process changes the state of the LED 0 every 500 ms static void process_0O for 77 tim_susp
19. precision distance measurement output for direct connection to microcomputer 3 Low dissipation current at OFF state dissipation current at OFF state TYP 3 WA 4 Capable of changing of distance measuring range through change the optical portion lens Applications 1 Sanitary sensors 2 Human body sensors for consumer products such as electric fans and air conditioners 3 Garage sensors PSD Position Sensitive Detector E Absolute Maximum Ratings Ta 25 C Vec 5V Compact High Sensitive Distance Measuring Sensor E Outline Dimensions Unit mm Emitting portion Detecting portion L ea ot a Ol oul SAPTO 9 t f 4 5202 3 200 4 1 29 37 N 2 GND Vin fa Vcc St Vout ai JAPAN SOLDERLESS TERMINAL MSG CO The dimensions marked with 3 are described made connector S4B ZR as the dimensions of lens center position Block Diagram GND Q Vcc 77 t Vcc Re 12k face 777 Q Signal processing Vout Light detector PSD i T LED drive circuit p Vin circuit Control circuit i Control IR LED X Vee signal input Reflective objec Par
20. s are in front of the Koala where they replace two Infrared Koala Sensors leaving 14 Infrared Sensors on the Koala Technical Aspect Details Range 10cm to 80cm Refresh Rate 1000Hz 3 Getting Started Please use the following procedure to test the sensors 1 Connect your PC to the Koala DCE serial port item 4 p 4 of Silver Koala User Manual 2 Check the active serial line jumper item 8 p 5 of Silver Koala User Manual 3 Connect to the Koala serial port using a terminal program set to 38400 8bit no flow control no parity 2 stop bits 4 Ensure the Koala is in mode 3 and then turn on the robot A startup message should appear on the terminal screen see Koala documentation for more details 5 Type V then return You should see the following answer v side_left front_left side_right front_left where side_left front_left side_right and front_left are 8bit output by IR sensors 4 Using the Sonar Sensors There are two ways you can read the IR triangulation sensors via a serial line using the Koala SerCom protocol or by writing a custom C program loaded into the robot s memory 4 1 Using the Serial Port The protocol command V allow to read the triangulation sensor Simply connect to the Koala s serial port with a terminal program set to 38400 8 bit no flow control no parity 2 stop bits Make sure the Koala is in mode 3 and turn on the robot see the Koala documentation for more details After the startu
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