US Sensor US Sensor - K-Team
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1. US SENSO user manual Cream Cee JUNE 2010 K Junior US Sensor User Manual rev 1 0 Documentation Author Frederic Lambercy K Team S A Rue Galilee 9 Y Park 1400 Yverdon les Bains Switzerland Email Url Trademark Acknowledgements IBM PC International Business Machines Corp Macintosh Apple Corp SUN Sparc Station SUN Microsystems Corp LabVIEW National Instruments Corp Matlab MathWorks Corp K Junior K Team LEGAL NOTICE e The contents of this manual are subject to change without notice e All efforts have been made to ensure the accuracy of the content of this manual However should any error be detected please inform K Team e The above notwithstanding K Team can assume no responsibility for any error in this manual K Junior US Sensor User Manual rev 1 0 3 TABLE OF CONTENTS K Junior US Sensor User Manual rev 1 0 1 INTRODUCTION The IR sensors fitted to K Junior have a maximum detection distance of approximately 20cm depending on the materials in question and in addition these sensors are so called proximity sensors in other words they do not give information on the exact distance of an obstacle The K Junior UltraSonicSensor module enables you not just to considerably extend the detection distance it can be used from 3cm to 6m but in addition the information received is in the form of a distance reading with no fluctuations resulting from type of obstacle This therefor2. 9 1400 YVerDOn Les BaInsS SUITZErlanD K Junior US Sensor User Manual rev 1 0 16
3. must first prefix an include command for the library at the beginning of your code include HemUltraSonicSensor h Clearly the file needs to be put in the same register 4 2 Serial Port Control With the serial protocol of the K Junior you can access I2C modules via RS 232 commands To do this you should consult K Junior user manual Examples e R EO0 00 01 Reads the firmware version You can use any development environment that can access serial port to interface to K Junior USsensor For instance we developed a graphical interface to read and configure the K Junior USsensor You must first plug your K Junior USsensor to the K Junior turn on the robot and then connect the PC to the K Junior with the USB cable K Junior US Sensor User Manual rev 1 0 11 A Technical Specification eee Weight NC Power Supply 5 V Minimum detectable distance 3 cm Maximum detectable distance 600 cm Power consumption varies depending on modes of use The module is in the process of carrying out a measurement 15mA 65ms max All other modes 3mA Undefined K Junior US Sensor User Manual rev 1 0 12 B Connectors Figure B 1 Connector details K Junior US Sensor User Manual rev 1 0 3 sj ten D Q lt C D O Figure C 1 Spatial Distribution of Signal 14 K Junior US Sensor User Manual rev 1 0 K Junior US Sensor User Manual rev 1 0 K Team SA RUE GALILEE
4. of the module or activation of measurements IC Address Firmware Version Main register Luminosity sensor MSB of 1 echo Distance control LSB of 1 echo MSB of 17 echo LSB of 17 echo Note MSB Most Significant Bit LSB Least Significant Bit 3 4 1 Firmware Version Register All this register does is send back the firmware version of the ultrasound module 3 4 2 Main Register This is the register used to activate a measurement for this different values can be 80 0x50 Activate a measurement with a result in inches 81 0x51 Activate a measurement with a result in centimetres 82 0x52 Activate a measurement with a result in microseconds sent So writing 0x51 in the register 0x00 enables activation of a measurement Once the measurement is activated the result is available at most 65ms later this time depends on the settings within the distance register If you do not want to wait a certain given time but prefer to check if the measurement is ready all you need to do is read access the register 0x00 Firmware Version if the module is still taking measurements it will send back the value OxFF 255 K Junior US Sensor User Manual rev 1 0 8 3 4 3 Luminosity Sensor Register Reading of this register gives a value proportional to the amount of light present in the environment The value of this sensor is only refreshed if a measurement is requested on the main regist
5. al rev 1 0 3 The K Junior UltraSonicSensor 3 1 Overview Figure 3 1 Overview of the UltraSonicSensor turret layout Make an external inspection of the turret Note the location of the following parts Ultrasound transmitter and receiver 1 K Junior Extension Connector 2 3 Luminosity sensor For more information on connector details please consult the Appendix at the end of this manual 3 2 12C Address The K Junior Robot control the USsensor through an PC bus The turret address is defined by 7 bits 1 bit for the mode selection write or read 110 TT IT R W 11010 The GenIO FC address is OxE1 in read mode and OxE0 in write mode K Junior US Sensor User Manual rev 1 0 3 3 Physical Phenomenon Unlike infrared sensors which are so called proximity sensors ultrasound modules enable distance measurements The principle is to transmit a packet of ultrasound waves and measure the time until the echo is received on the receiver The distance d to the object producing the echo can be measured provided we know the speed of sound propagation in an environment c and the elapsed time t cet 2 In the air at normal atmospheric pressure and 20 C the speed of sound is about c 343m s Ultrasonic waves typically of between 40 and 180 kHz frequency are in general produced by a piezzo transducer D 3 4 Register Addresses Different registers allow configuration
6. e allows K Junior to find its bearings in much more complex environments as well as detecting obstacles a lot earlier 1 1 How to use this Manual This manual is an introduction to the K Junior UltraSonicSensor designed for the K Junior robot If you cannot find any information in this manual relating to a given problem that you encounter please go to the K Team website http www k team com and in particular the Forum or the FAQs section 1 2 Safety precautions Here are some recommendations on how to correctly use the K Junior Robot e Always make sure it is placed in a stable position This will avoid any risk of it falling that might lead to its breaking or causing injury to another e Keep out from the wet places A contact with water can made a short circuit and damage the electronics e Don t plug or unplug any connector or turret when the robot is powered All connections and turret insertions must be made when the robot and the interface are switched OFF Otherwise damages can occur e Never leave the K Junior powered when it is unused When you have finished working with K Junior turn it off It will save the battery life 1 3 Recycling 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 batteri
7. er 3 4 4 Distance Control Register The module is capable of measuring distances up to 6 metres If you only want to detect objects at 30cm there is no point in the module waiting for an echo that might come from an object detected at 6m So you can specify for it the distance of the obstacles that you want to detect and the module will carry out the measurement more quickly The maximum detectable distance is specified by value written in the register x 43 mm 43mm so writing the value 24 0x18 allows you to get a maximum detection distance of 24 x 43mm 43mm 1075mm 3 4 5 Echo Registers If you set up K Junior opposite you and you have a wall behind you two echoes are sent one reflecting your presence and another caused by the wall So the echoes allow detection of the nearest obstacle as well as the ones after that Since the distance values are 16 bit you have to read the MSB register and the LSB register to get the distance in your chosen unit K Junior US Sensor User Manual rev 1 0 9 4 _UltraSonicSensorUse_ D There are two ways of using HemUltraSonicSensor with K Junior C Programming e Serial port control e g SysQuake LE 4 1 C Programming To program K Junior in C you first need to acquire the CCS compiler available from the software section of the K Team website We first recommend you read the latest version of the KJOs manual http ftp k team com K Junior KJOSManual doc in this document you will f
8. es which contain Lithium Polymer can contribute to the toxicity levels of landfills or incinerator ash By recycling the batteries through recycling programs you can help to create a cleaner and safer environment for generations to come For those reasons please take care to the recycling of your robot at the end of its life cycle for instance sending back the robot to the manufacturer or to your local dealer Thanks for your contribution to a cleaner environment K Junior US Sensor User Manual rev 1 0 5 2 Connections eee Fitting and removal of the extension module is a delicate operation Please read carefully the instructions below to prevent damage to it K TEAM cannot be held liable for any damage caused by improper handling 2 1 Install To begin with make sure the robot is switched off then insert the K Junior UltraSonicSensor module keeping it as vertical as possible but making sure it is positioned as below Figure 2 1 K Junior US Sensor module on the K Junior Please do not attempt to insert K Junior UltraSonicSensor in a different orientation or slightly biased it could cause important damages to K Junior or the extension module 2 2 Uninstall Check first that the K Junior Robot is switched off hold firmly the K Junior in your hand pull as much vertical as possible the K Junior UltraSonicSensor module with the other hand Please take extra care in not bending connector pins K Junior US Sensor User Manu
9. ind all the information you need on the KJOs as well as how to install CCS e Then download the latest available version of KJOs as well as the latest version of K Junior UltraSonicSensor Lib containing HemUlItraSonicSensor h e Open the project in CCS The HemUltraSonicSensor h library includes the following functions 4 1 1 Void HemuUltraSon Init void Purpose Initialisation of the ultrasound module This is the first function that needs to be called at the start of your code Example HemUItraSon_Init 4 1 2 Char HemUltraSon Read Version void Purpose Read the firmware version Example char Version Version HemUltraSon_Read_Version Q 4 1 3 Char HemUltraSon Read Brightness void Purpose Read the luminosity sensor Example char Brightness Brightness HemUltraSon_Read_Brightness 4 1 4 Void HemuUltraSon Start Measure void Purpose Activate a distance measurement This function already includes a waiting time of 65ms Example HemUltraSon_Start_Measure 4 1 5 Unsigned int16 HemUltraSon Read Values char Echo Purpose Read the echo obtained the echo number is parameterised from 0 to 16 Example unsigned int16 Distance Distance HemUltraSon_Read_Values 0 K Junior US Sensor User Manual rev 1 0 10 4 1 6 Void HemUltraSon Init Range Register Unsigned char Value Purpose Initialise the maximum detectable distance Example HemUltraSon_Init_Range_Register 0x10 NB To use these functions you
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