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The system is made of 2 ultrasound sensors and a servomotor and is controlled by the Arduino Mega.
The system is made of 2 ultrasound sensors and a servomotor and is controlled by the Arduino Mega.
Ultrasonic sensors HY-SRF05 characteristics:
Ultrasonic sensors HY-SRF05 characteristics:
· Sound frequency 40kHz
· Sound frequency 40kHz
· Measurement range 2cm to 450cm
· Measurement range 2cm to 450cm
· Measurement resolution 0.3cm
· Measurement resolution 0.3cm
· Measurement angle 15°
· Measurement angle 15°
Servomotor with metallic gears FT5316M
Servomotor with metallic gears FT5316M
The system is used both for localization and obstacle detection.
The system is used both for localization and obstacle detection.
For localization it makes scan by rotating the servomotor from 0 to 180° in 15 steps. That means 13° rotation by step, a little bit less than the sensor measurement angle. 0° and 180° scans provide crossed front and back distances.
For localization it makes scan by rotating the servomotor from 0 to 180° in 15 steps. That means 13° rotation by step, a little bit less than the sensor measurement angle. 0° and 180° scans provide crossed front and back distances.
The 2 back to back HC-SRF05 sensors are alternatively triggered to provide a 360° scan.
The 2 back to back HC-SRF05 sensors are alternatively triggered to provide a 360° scan.
Sensor returns 0 when it does not get any echo back to a trigger.
Figure 10 360° scan raw data example
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