1,Nhanganyaya
Ultrasonic kubvainzira isiri-yekuona yekuona iyo inoshandisa ultrasonic mafungu anoburitswa kubva kune inonzwika sosi, uye iyo ultrasonic wave inoratidzira kumashure kune inonzwika sosi kana chipingamupinyi chaonekwa, uye chinhambwe chechipingamupinyi chinoverengerwa zvichienderana nekumhanya kwekumhanya kwe ruzha mumhepo. Nekuda kweiyo yakanaka ultrasonic directivity, haina kukanganiswa nechiedza uye ruvara rwechinhu chakayerwa, saka inoshandiswa zvakanyanya murobhoti chipingamupinyi kudzivirira. Iyo sensor inogona kunzwa zvipingamupinyi zvakamira kana zvine simba munzira yekufamba yerobhoti, uye taura chinhambwe uye ruzivo rwenzira yezvipingamupinyi munguva chaiyo. Iyo robhoti inogona kuita nemazvo chiito chinotevera maererano neruzivo.
Nekukurumidza kusimudzira kweiyo robhoti application tekinoroji, marobhoti ari munzvimbo dzakasiyana dzekushandisa akaonekwa mumusika, uye zvitsva zvinodiwa zvinoiswa pamberi pema sensors. Maitiro ekujairana nekushandiswa kwemarobhoti munzvimbo dzakasiyana idambudziko kune yega sensor mainjiniya yekufunga nezvayo uye kuongorora.
Mune ino bepa, kuburikidza nekushandiswa kweiyo ultrasonic sensor murobhoti, kuti unzwisise zviri nani mashandisiro ezvipingamupinyi kudzivirira sensor.
2,Sensor Sumo
A21, A22 uye R01 masensa akagadzirwa zvichibva pane otomatiki marobhoti ekudzora maapplication, ane akateedzana mabhenefiti enzvimbo diki mapofu, kuyera kwakasimba kuchinjika, pfupi mhinduro nguva, kusefa kupindira, kukwirisa kuchinjika, guruva uye kusapinda mvura, hupenyu hurefu uye kuvimbika kwakanyanya. , nezvimwewo. Ivo vanogona kugadzirisa masensa ane akasiyana ma parameter zvichienderana nemarobhoti akasiyana.
A21, A22, R01 chigadzirwa mifananidzo
Basa abstract:
•wide voltage supply ,kushanda voltage3.3～24V;
•bofu nzvimbo inogona kusvika 2.5cm zvishoma;
•Iyo kure kure inogona kuiswa, iyo yakazara 5-level renji ye50cm kusvika 500cm inogona kusetwa kuburikidza nemirayiridzo;
• Yakasiyana-siyana yekubuda modes iripo, UART auto / inodzorwa, PWM inodzorwa, chinja vhoriyamu TTL level (3.3V), RS485, IIC, nezvimwewo. (UART inodzorwa uye PWM inodzorwa mashandisiro emagetsi anogona kutsigira Ultra-yakaderera kurara simba kushandiswa≤5uA)
•The default baud rate ndeye 115,200, Inotsigira kugadziriswa;
• Ms-level mhinduro nguva, data kubuda nguva inogona kusvika 13ms nekukurumidza;
• Single uye kaviri kona inogona kusarudzwa, huwandu hwemakona mana mazinga anotsigirwa akasiyana ekushandisa mamiriro;
•Yakavakirwa-mukati ruzha kudzikisa basa iro rinogona kutsigira 5-giredhi yekudzikisa ruzha kuseta;
• Intelligent acoustic wave processing tekinoroji, yakavakirwa-mukati yakangwara algorithm yekusefa kuvhiringidza mafungu eruzha, inogona kuona kukanganiswa kwemafungu enzwi uye otomatiki kusefa;
•Isaipinda mvura dhizaini, isina mvura giredhi IP67;
•Kugadzika kwakasimba kuchinjika, nzira yekuisa iri nyore, yakagadzikana uye yakavimbika;
• Tsigira kure firmware upgrade;
3,Product parameters
(1)Basic parameters
(2)Kuwanikwa kwemhando
Ultrasonic chipingamupinyi chekudzivirira sensor ine maviri-angle vhezheni yesarudzo, Kana chigadzirwa chaiswa vertically, yakatwasuka kuruboshwe uye kurudyi nzira yekuona angle yakakura, inogona kuwedzera kuvharika kwehuwandu hwekudzivirira zvipingamupinyi, diki vertical direction yekuona angle, panguva imwe chete. nguva, inodzivisa kukanganisa kunokonzerwa nemugwagwa usina kuenzana panguva yekutyaira.
Dhiagiramu yechiyero chekuyera
4,Ultrasonic chipingamupinyi kudzivirira sensor technical scheme
(1) Dhiagiramu yeiyo hardware chimiro
(2)Kufambiswa kwebasa
a, Iyo sensor inofambiswa nemagetsi maseketi.
b, Iyo processor inotanga kuzviongorora kuti ive nechokwadi chekuti dunhu rega rega rinoshanda zvakajairika.
c, Iyo processor inozviongorora kuti uone kana paine ultrasonic yakafanana-frequency kupindira chiratidzo munharaunda, uye wozosefa nekugadzirisa mafungu eruzha munguva. Kana kukosha kwechinhambwe kwakaringana kusingakwanise kupihwa mushandisi, ipa iyo isina kujairika chiratidzo data kudzivirira zvikanganiso, wobva wasvetukira kumuitiro k.
d, Iyo processor inotumira mirairo kune inowedzera excitation pulse circuit kudzora kusimba kwekunakidzwa zvichienderana nekona uye renji.
e, Iyo ultrasonic probe T inotumira maacoustic masaini mushure mekushanda
f, Iyo ultrasonic probe R inogamuchira acoustic masaini mushure mekushanda
g, Iyo isina simba acoustic siginecha inokwidziridzwa neiyo chiratidzo amplifier wedunhu uye yakadzoserwa kune processor.
h, Chiratidzo chakakwidziridzwa chinodzoserwa ku processor mushure mekuumbwa, uye yakavakirwa-mukati yakangwara algorithm inosefa yekuvhiringidza ruzha wave tekinoroji, inogona kunyatso kuburitsa chinangwa chaicho.
i, Tembiricha yekuona dunhu, ona yekunze nharaunda tembiricha mhinduro kune processor
j, Iyo processor inozivisa nguva yekudzoka kweiyo echo uye inobhadhara tembiricha yakasanganiswa nekunze ambient nharaunda, inoverengera kukosha kwechinhambwe (S = V * t/2).
k, Iyo processor inoendesa yakaverengerwa data chiratidzo kune mutengi kuburikidza netambo yekubatanidza uye inodzokera kune a.
(3)Kupindira
Ultrasound mumunda we robotics, ichatarisana nemhando dzakasiyana-siyana dzekupindira, dzakadai semagetsi emagetsi, kudonha, kuvhiyiwa, kupera, nezvimwewo. Ultrasound inoshanda nemhepo sepakati. Kana robhoti yakarongedzerwa neakawanda ma ultrasonic sensors uye akawanda marobhoti anoshanda padhuze panguva imwe chete, pachave neakawanda asiri ekuzvarwa ma ultrasonic masaini munzvimbo imwechete uye nguva, uye kupindirana pakati pemarobhoti kuchave kwakanyanya.
Tichifunga nezvematambudziko ekukanganisa aya, sensor yakavakirwa-mune inoshanduka-shanduka tekinoroji tekinoroji, inogona kutsigira 5 nhanho yekudzikisa ruzha kugadzika, iyo yakafanana frequency interference filter inogona kusetwa, huwandu uye kona inogona kusetwa, uchishandisa echo filter algorithm, ine. simba rinopesana nekupindira.
Mushure meDYP marabhoritari kuburikidza neinotevera bvunzo nzira: shandisa 4 ultrasonic chipingamupinyi chekudzivirira masensa kuheja kuyerwa, kutevedzera yakawanda-mashini yekushanda nharaunda, rekodha iyo data, chiyero che data chakasvika kupfuura 98%.
Dhiagiramu yeanti-kupindira tekinoroji bvunzo
(4) Beam angle inogadziriswa
Iyo software yekumisikidza sensor beam angle ine 4 mazinga: 40,45,55,65, kusangana nezvinodiwa zvekushandisa zvemamiriro akasiyana.
5,Ultrasonic chipingamupinyi kudzivirira sensor technical scheme
Mumunda webhobhoti chipingamupinyi chekudzivirira application, iyo sensor ndiyo ziso rerobhoti, Kunyangwe iro robhoti rinogona kufamba zvakanaka uye nekukurumidza zvinoenderana zvakanyanya nekuyerwa ruzivo rwakadzoserwa ne sensor. Mumhando imwechete ye ultrasonic chipingamupinyi chekudzivirira ma sensors, ndeye yakavimbika chipingamupinyi chekudzivirira zvigadzirwa zvine mutengo wakaderera uye yakaderera kumhanya, zvigadzirwa zvinoisirwa zvakatenderedza robhoti, kutaurirana nerobhoti yekudzora nzvimbo, tanga akasiyana ekuona ma sensors ekuona chinhambwe zvinoenderana negwara rekufamba. yerobhoti, ita nekukurumidza mhinduro uye pane-inoda yekuona zvinodiwa. Zvichakadaro, iyo ultrasonic sensor ine hombe yeFOV yemunda angle yekubatsira muchina kuwana yakawanda yekuyera nzvimbo yekuvhara inodiwa yekuona nzvimbo pamberi payo.
6,Zvakanakisa zvekushandiswa kweiyo ultrasonic sensor murobhoti chipingamupinyi chekudzivirira chirongwa
• Ultrasonic chipingamupinyi kudzivisa radar FOV yakafanana nekamera yakadzika, inodhura inenge 20% yekamera yakadzika;
• Full-range millimeter-level precision resolution, nani pane kudzika kamera;
• Miedzo mibairo haina kukanganiswa nekunze kwezvakatipoteredza ruvara uye chiedza kusimba, pachena zvipingamupinyi zvinhu zvinogona stably kuonekwa, zvakadai segirazi, transparent plastic, etc.
• Kusununguka kubva kune guruva, sludge, fog, asidi uye alkali kupindira kwezvakatipoteredza, kuvimbika kwepamusoro, kuponesa-kunetseka, chiyero chekuchengetedza zvishoma;
• Diki saizi yekusangana nerobhoti yekunze uye yakamisikidzwa dhizaini, inogona kuiswa kune akasiyana ezviitiko zvebasa marobhoti, kusangana nezvinodiwa zvakasiyana zvevatengi, kuderedza mari.
Nguva yekutumira: Aug-16-2022