Mune mamwe emapurojekiti ako unenge wave kuda kuyera madaro. Zvakanaka, iwe unofanirwa kuziva kuti iyo VL53L0X mudziyo unobvumidza kuyera iwo nemhando yepamusoro. Uye zvakare, kukura kwayo kudiki uye mutengo wakaderera unoita kuti ive yakanaka kune ako DIY mapurojekiti, kunyanya kusangana neArduino.
Kune akawanda michina anokwanisa kuyera madaro, mamwe acho ari mamaera metres akavakirwa pa ultrasound inoburitsa ruzha uye kana uchirova nechinhu icho chinotendera kuziva nekukwana kwakaringana daro riripo. Asi kana iwe uchida chaiyo yepamusoro, yeizvi iwe unoda a Manyiminya kure mita. Iyi mhando yemidziyo yekuyera kwakavakirwa Laser, sezvazviri neiyo VL53L0X.
Chii chinonzi ToF?
Nguva Yekubhururuka kana ToF (Nguva-ye-Ndege) kamera ndiwo mutoo unoshandiswa kuyera madaro. Iyo yakavakirwa pane optics, kuyera iyo nguva yadarika pakati pekubuda kwechiedza danda uye kugamuchirwa. Vanogona kuve CCD, CMOS sensors, uye iyo pulses inogona infrared, laser, nezvimwe. Iyo sisitimu inozoenderana kuti itange nguva yekuyera kana iko kurovera kuchikonzerwa uye kumisa kaunda kana ivo vagamuchira iyo bounce neiyo sensor.
Nenzira iyoyo daro rinogona kuverengerwa chaizvo. Izvo zvinongotora imwezve pfungwa yemafambiro akabatanidzwa muchip kuti iite kuverenga kubva panguva iyo danda parinodzingwa kusvikira rave kutambirwa uye nekudaro kuona kuti chinhambwe chiripi. Nheyo yacho yakajeka.
Rudzi urwu rwechigadzirwa runoshandiswa mu robotics kubvumira iyo robhoti kana drone kudzivirira zvipingamupinyi, kuziva kuti vari kure zvakadii nechinangwa, kuona kufamba kana kuswedera, kwema sensors emota anoshandiswa akasiyana mafomu, kushandisa mita yemagetsi, senge actuator kuti Arduino iite chimwe chinhu kana inoona kumwe kuswedera kwechinhu, nezvimwe.
Chii chinonzi VL53L0X uye datasheet
El VL53L0X inoshandisa chirevo ichi kuyera madaro ne laser infrared. chizvarwa chekupedzisira. Pamwe chete neprosesa, saArduino, inogona kuve chishandiso chakasimba chekuyera. Kunyanya, iyo chip inogona kutora madaro pakati pe50mm na2000mm, ndiko kuti, pakati pe5 masentimita uye 2 metres.
Kuyera madaro ari padyo ungangoda musiyano weiyi chip inonzi VL6180X iyo inobvumidza iwe kuyera nhanho iri pakati pe5 ne200 mm, kureva kuti, pakati pehafu yesentimita uye masendimita makumi maviri. Kana iwe uchida kutsvaga chakafanana chishandiso asi zvichibva pane ultrasound kune chero hunyanzvi chikonzero, saka iwe unofanirwa kutarisa iyo HC-SR20, imwe yakachipa yakachipa module inozivikanwa nevanhu vanoita.
El VL53L0X chip yakagadzirirwa shanda kunyangwe iyo ambient mwenje wakanyanya kukwirira. Ziva kuti kana uchishanda zvine simba, iko kukura "kwechiedza" kwenzvimbo, zvichanyanya kuoma kubata zvakakwana bhambu yechiratidzo. Asi mune ino haina kupa rakawandisa dambudziko. Uye zvakare, iyo muripo sisitimu iyo yainobatanidza inoibvumira kuyera kunyangwe iwe ukaishandisa iko kuseri kwekudzivirira girazi.
Izvo zvinoita kuti ive imwe yeakanakisa maseru maseru iyo iwe yauchawana mumusika. Iine chaiyo yepamusoro chaiyo kupfuura sensors yakavakirwa pane ultrasound kana infrared (IR). Chikonzero chekunyatso kutaura ndechekuti laser haizokanganisirwe nemaungira kana kuratidzwa kubva kuzvinhu semamwe mamiriro.
Parizvino unogona kuiwana ichibatanidzwa mumanyurusi pamwe nekuwedzera kweanosvika maeuron gumi nematanhatu kana mumahwendefa akapusa anongodarika € 16 kana € 1 mune zvimwe zviitiko. Iwe unotoziva kuti iwe uchaiwana muzvitoro senge eBay, AliExpress, Amazon, nezvimwe. Vagadziri vemidziyo iyi vakasiyana, saka kana iwe uchida kuziva ruzivo rweiyo modhi yawakatenga, zviri nani kutarisa iyo dhatabheti yemugadziri iyo yawakasarudza. Semuyenzaniso:
El VL53L0X Iyo ine mukati mechip iyo emitter yeiyo laser pulse uye iyo sensor yekutora iyo inodzoka danda. Mune ino kesi, iyo emitter ndeye 940nm wavelength laser uye VCSEL mhando (Vertical Cavity Surface-Emitting Laser). Kana iri yekubata sensor, iri SPAD (Imwe Photon Avalanche Diode). Inobatanidzawo zvemukati zvemagetsi zvinodaidzwa kuti FlightSense TM iyo ichaverenga chinhambwe.
El kuyera kona kana FOV (Munda Wemaonero) iri makumi maviri neshanu pane ino. Icho chinoshandura kune chiyero nzvimbo ye 25m dhayamita pane chinhambwe che0,44m Kunyangwe iyo yekuyera renji inoenderana nemamiriro akapoteredzwa. Kana ikaitirwa mukati inenge iri yakati kwirei kupfuura kana ichiitwa panze. Izvo zvakare zvinoenderana nekutarisisa kwechinhu chauri kunongedzera:
| Target kufunga | Mamiriro ezvinhu | Interior | panze |
|---|---|---|---|
| Mucherechedzo chena | Chaizvoizvo | 200cm | 80cm |
| Zvakafanana | 120cm | 60cm | |
| Grey chinangwa | Chaizvoizvo | 80cm | 50cm |
| Minimum | 70cm | 40cm |
Uye zvakare, iyo VL53L0X ine akati wandei uchishandisa modes Izvo zvinogona kusiyanisa mhedzisiro. Idzi modhi dzakapfupikiswa mutafura inotevera:
| Modo | Nguva | Kusvikira | Kururama |
|---|---|---|---|
| Default | 30ms | 1.2m | Ona tafura iri pazasi |
| Kurongeka kwakanyanya | 200ms | 1.2m | +/- 3% |
| Yakareba-renji | 33ms | 2m | Ona tafura iri pazasi |
| Kumhanya kwazvo | 20ms | 1.2m | +/- 5% |
Zvinoenderana nema modes aya, isu tine akati wandei zvakajairika uye kureba-kureba chokwadi zvaunazvo patafura iyi:
| Interior | panze | |||||
|---|---|---|---|---|---|---|
| Target kufunga | Kureba | 33ms | 66ms | Kureba | 33ms | 66ms |
| Mucherechedzo chena | pa120cm | 4% | 3% | pa60cm | 7% | 6% |
| Grey chinangwa | pa70cm | 7% | 6% | pa40cm | 12% | 9% |
Pinout uye kubatana
Kuti zvese izvi zvishande mushe unoda chinongedzo nenyika yekunze. Uye izvo zvinowanikwa kuburikidza nemamwe mapini kana kubatana. Iyo pini yeVL53L0X yakapusa, inongova nemapini matanhatu. Nekubatanidzwa kwayo neArduino, kutaurirana kunogona kuitwa kuburikidza neI6C.
Kuti uidye, unogona batanidza pini Saka:
- VCC kusvika 5v kubva Arduino
- Exchange KWD to GND of Arduino
- SCL kune Arduino analog pini. Semuenzaniso A5
- SDA kune imwe pini yeanalog. Semuenzaniso A4
- Iyo GPI01 uye XSHUT pini haifanire kushandiswa panguva ino.
Kubatanidzwa naArduino
Kana ari mamwe mamodule mazhinji, eiyo VL53L0X iwe unewo maraibhurari (semuenzaniso adafruit) yekodhi inowanikwa iwe yaunogona kushandisa kushanda nemamwe mabasa kana iwe uchinyora iyo sosi kodhi yekubata yako projekiti muArduino IDE. Kana iri nguva yako yekutanga naArduino, ini ndinokurudzira bhuku redu rekushandisa.
Muenzaniso we Yakapusa kodhi yekuti iwe utore zviyero uye uratidze chiyero kukosha kuburikidza ne serial port saka unogona kuzviona kubva paPC skrini yako paunenge uine Arduino bhodhi yakabatana ndeiyi:
#include "Adafruit_VL53L0X.h"
Adafruit_VL53L0X lox = Adafruit_VL53L0X();
void setup() {
Serial.begin(9600);
// Iniciar sensor
Serial.println("VL53L0X test");
if (!lox.begin()) {
Serial.println(F("Error al iniciar VL53L0X"));
while(1);
}
}
void loop() {
VL53L0X_RangingMeasurementData_t measure;
Serial.print("Leyendo sensor... ");
lox.rangingTest(&measure, false); // si se pasa true como parametro, muestra por puerto serie datos de debug
if (measure.RangeStatus != 4)
{
Serial.print("Distancia (mm): ");
Serial.println(measure.RangeMilliMeter);
}
else
{
Serial.println(" Fuera de rango ");
}
delay(100);
}
Mune raibhurari yaAdafruit pachako une mimwe mienzaniso yekushandisa kana uchiida ...