Auto-Calibrating Line Sensor LSS05 User's Manual
Contents
1. Press twice to set the line sensor bar into dark line following mode and press 3 times to set the line sensor bar into bright line mode C Mode indicator LED orange is for indication of the mode LED will light up if LSSO5 is in bright line detection mode Otherwise it 1s off D PICI6F819 PIC microcontroller for data processing E Power and output signal connector F Power indicator LED green showing the board is supplied with power Maximum input power is 5V Created by Cytron Technologies Sdn Bhd All Rights Reserved 6 Cytr on 5 ROBOT HEAD to TOE Technologie Product User s Manual LSS05 Bottom Label Function A Pairs of IR sensor B Manufacturing Test Points Cs Input output signal label A Pairs of IR sensor which consist IR transmitter and IR receiver B It is reserved for Manufacturing Test Point Please DO NOT short or connect wire to any of these pins C Input output signal label showing the Power SV GND output signal pins O1 O5 and calibration signal Cal Created by Cytron Technologies Sdn Bhd All Rights Reserved 7 Cytr on 5 ROBOT HEAD to TOE Technologie Product User s Manual LSS05 5 INSTALLATION HARDWARE Connect to microcontroller 5 1 LSSO5 to Mini Mobile Robot Controller MC40A Example application of LSSO5 is in MC40A Used as line detection LSSO5 is usually mounted at the bottom of the mobile rob2. Cal button for the settings of LSSO5 user can use a microcontroller to pull down the signal to get into the settings It 1s similar to the Cal button pulling down signal pin once set the sensor bar into calibration mode pulling down the signal pin twice consecutively to set the sensor into dark line mode and pulling down the signal pin 3 times consecutively set the sensor into bright line mode The timing requirement for the consecutive signals is 1 5 seconds refer to the timing diagram si iV 15505 G il 7 3 4 6 8 Pin 8 which is Cal signal pin is connected to push button Then the push button is connect to microcontroller through a transistor Reminder Please keep the Cal signal at high logic level 5V if it s not generating pulse for the function of the signal Created by Cytron Technologies Sdn Bhd All Rights Reserved 16 Technologie Cytr on gt ROBOT HEAD to TOE peor Product User s Manual LSS05 8 WARRANTY VVV WV Product warranty is valid for 6 months Warranty only applies to manufacturing defect Damage caused by misuse is not covered under warranty Warranty does not cover freight cost for both ways Prepared by Cytron Technologies Sdn Bhd 19 Jalan Kebudayaan 1A Taman Universiti 81300 Skudai Johor Malaysia Tel 607 521 3178 Fax 607 521 1861 URL www cytron com my Email support cytron com my sales cytron com my Created by Cytron Technologies Sdn Bhd All Ri
3. receiver pairs LSSOS5 is the typically used for embedded system or robots in line following task LSSO5 can be used for either dark or bright line following Any color with distinct brightness difference is suitable for LSSOS The IR transmitters on LSSO5 are pulsed to allow the transmitter to off at certain idle period of sensor This is to minimize the current consumption of LSSO5 to at least half of the current consumption compared to a normal unregulated IR line sensor Power polarity protection is available on LSSOS5 in case the user accidently applies a reverse voltage LSSOS have 5 digital outputs to user indicating the existence of the line The threshold to the brightness of line existence will be set when the user calibrate the sensor to the surface that it will recognize One digital input of calibration signal is available to user for automated calibration function by the user system User can pull down this signal line with microcontroller to calibrate the sensors This signal line also can be use to enter different mode of LSSO5 Each sensor of the 5 sensors on LSSO5 is independent of each other The refreshing rate of the sensors is more than 100Hz Every sensor is provided with its own LEDs as indication of line detection LSSOS has a manual calibration button The calibration button is multifunctional User can enter different mode of functions using calibration button too as the alternative to the calibration signal Note Red co
4. Cytron Technologie Auto Calibrating Line Sensor LSSOS5 User s Manual V1 2 September 2011 Information contained in this publication regarding device applications and the like is intended through suggestion only and may be superseded by updates It is your responsibility to ensure that your application meets with your specifications No representation or warranty is given and no liability is assumed by Cytron Technologies Incorporated with respect to the accuracy or use of such information or infringement of patents or other intellectual property rights arising from such use or otherwise Use of Cytron Technologies s products as critical components in life support systems is not authorized except with express written approval by Cytron Technologies No licenses are conveyed implicitly or otherwise under any intellectual property rights G yer on gt ROBOT HEAD to TOE Technologie Product User s Manual LSS05 Index Introduction and Overview Packing List Product Specification and Limitations Board or Product Layout ON On A YW Installation hardware Getting Started from user get the item until using it 13 gt eS SY Warranty 6 months or 1 year 17 Created by Cytron Technologies Sdn Bhd All Rights Reserved 2 G yer on gt ROBOT HEAD to TOE Technologie Product User s Manual LSS05 1 INTRODUCTION AND OVERVIEW LSSO5 Low cost line sensor bar consists of 5 IR transmitter and IR
5. and sensor 5 U5 LED Output DS1 U1 DS2 U2 DS3 U3 DS4 U4 DSS5 U5 ON ON OFF OFF OFF OFF ON ON ON OFF OFF OFF OFF ON ON OFF OFF OFF OFF OFF oO Oo O m Oo O rR re N Oo Pe O gt CO Oloo un Olo ODO Created by Cytron Technologies Sdn Bhd All Rights Reserved 14 Cytr on 5 ROBOT HEAD to TOE Technologie Product User s Manual LSS05 BRS mot RANEREN fd B 5V GND 01 02 03 04 05 Cal 6 1 2 Using the calibration signal The calibration signal from the sensor connector can be used to perform exactly the same function as the calibration push button The calibration signal line requires user to generate falling edges to set for appropriate mode LSSO5 detect how many falling edges to set to appropriate mode e One falling edge pulse for calibration mode as shown in figure below After the falling edge pulse the sensor will start calibration e Two falling edges for setting the LSSOS5 into dark line mode The 2 falling edges need to be in range of 1 5 seconds 1 5s Created by Cytron Technologies Sdn Bhd All Rights Reserved 15 C yer on ROBOT HEAD to TOE Technologie Product User s Manual LSS05 The usage of the calibration signal pin is optional The pin TTL 5V can be connected to a microcontroller if user want to use it The Calibration signal pin has the same functions as the Cal button Instead of manually pushing the
6. ght surface for it to read the value and save it LSSO5 will save the value in EEPROM it will retrieve back the data from the EEPROM every time its switch on Hence only one time calibration is needed for the same surface and line To calibrate LSSO5 simply press the calibration push button once or pulling down the Cal for few milliseconds Calibration will be start by exposing the sensor to the bright surface and then to the dark surface as indicated by the LEDs 3 LEDs blinking means the bright calibration 2 5 seconds and 2 LED blinking means the dark calibration 2 5 seconds Calibration is normally done by crossing every sensor across the line that it will follow as shown in the figure below Sensors will save the brightest value in the bright calibration process and darkest value in dark calibration User can calibrate by simply swinging the sensors across the dark and bright surface in order to expose every sensor to the dark and bright surface Calibration of every sensor is independent and value of each sensor will be saved Example motions of calibration by crossing the sensor between the lines Created by Cytron Technologies Sdn Bhd All Rights Reserved 13 G yer on gt ROBOT HEAD to TOE Technologie Product User s Manual LSS05 6 1 Calibration button and signal The calibration button or the calibration signal Cal has 2 functions The 1 function is to call for calibration of the line sensor and the 2 funct
7. ghts Reserved 17
8. ion is to set whether the sensor bar will operate for dark line following or bright line following 6 1 1 Using the calibration push button Press the push button once to set the sensor bar into calibration mode LSSO5 will go into calibration mode and the red LEDs will start blinking accordingly to indicate whether it is calibrating for dark color or bright color Press the push button twice will set the line sensor into dark line following mode which LSSOS will detect dark line Sensor indicator LEDs will light up if it detects dark surface the line is dark and the output is high When no dark line is detect the output will be low Press the push button 3 times will set the line sensor bar into bright line following mode which LSSOS5 will detect bright line sensor indicator LEDs will light up 1f it detects bright surface the line is bright and the output is high When no bright line is detect the output will be low Dark Bright indicator D B indicator LED will light up in orange color for this mode Below are examples of LSSO5 output when it detects dark and bright line Output 1 is for DS1 output 2 for DS2 and output 3 4 and 5 for DS3 DS4 and DS5 respectively LED ON means that the sensor detected the line For example when sensorl U1 and sensor2 U2 detected the dark line DSI and DS2 will turn ON The output for sensorl U1 and sensor2 U2 is high while it is low for sensor which do not detect the line sensor3 U3 sensor 4 U4
9. lor is very bright to IR sensor thus LSSO5 has difficulties in red white pair color line follow Created by Cytron Technologies Sdn Bhd All Rights Reserved 3 Cytr on ROBOT HEAD to TOE Technologie Product User s Manual LSS05 2 PACKING LIST Please check the parts and components according to the packing list If there is any part missing please contact us at sales cytron com my immediately E 1 LSSO5 PCB with every component soldered properly 2 LSS0O5 cable connector Created by Cytron Technologies Sdn Bhd All Rights Reserved 4 C yer on ROBOT HEAD to TOE Technologie Product User s Manual LSS05 3 PRODUCT SPECIFICATION AND LIMITATIONS Dimensions Specifications pea foe pene e pene h e esm Absolute Maximum Rating T ls mT Created by Cytron Technologies Sdn Bhd All Rights Reserved 5 Cytr on 5 ROBOT HEAD to TOE Technologie Product User s Manual LSS05 4 BOARD OR PRODUCT LAYOUT aoe donk a oe ee he e D E Label Function Label Function A Sensor indicator LEDs Ds PIC16F819 B Calibration button E Power and output signal connector C Mode indicator LED F Power indicator LED A Sensor indicator LEDs red will light up showing that it detects line B Calibration button is used to enter different modes Press once to enter the calibration mode
10. ot Created by Cytron Technologies Sdn Bhd All Rights Reserved 8 Cytr on 5 ROBOT HEAD to TOE Technologie Product User s Manual LSS05 5 1LSS05 cable connector Figure below shown cable used to connect LSSOS5 to microcontroller 2020H 08 connector is used at the end of the cable Pin pitch for 2020H connector is not standard size for donut board pin pitch To use LSSO5 with donut board simply cut the end of connector and solder another type of connector like 2510 or 3960 connector Following figure is showing the step to connect LSSO5 to others type of connector Created by Cytron Technologies Sdn Bhd All Rights Reserved 9 Cytr on ROBOT HEAD to TOE Technologie Product User s Manual LSS05 Created by Cytron Technologies Sdn Bhd All Rights Reserved 10 Cytr on 5 ROBOT HEAD to TOE Technologie Product User s Manual LSS05 Created by Cytron Technologies Sdn Bhd All Rights Reserved 11 Cytr on 5 ROBOT HEAD to TOE Technologie Product User s Manual LSS05 Figure below shown LSSO5 was connected to donut board Created by Cytron Technologies Sdn Bhd All Rights Reserved 12 G yer on gt ROBOT HEAD to TOE Technologie Product User s Manual LSS05 6 GETTING STARTED LSSO5 need to be calibrated to retrieve the dark and bright value of the surface that it will do the line follow Every of the IR sensor pairs need to be exposed to the dark and bri
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