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York Jong

SENSORS - SHARP IR RANGE FINDER - 0 views

www.societyofrobots.com/sensors_sharpirrange.shtml

ir range rangefinder sensor

shared by York Jong on 01 Jun 07 - Cached
  • The Sharp IR Range Finder works by the process of triangulation. A pulse of light (wavelength range of 850nm +/-70nm) is emitted and then reflected back (or not reflected at all). When the light returns it comes back at an angle that is dependent on the distance of the reflecting object. Triangulation works by detecting this reflected beam angle - by knowing the angle, distance can then be determined.
  • The IR range finder reciever has a special precision lens that transmits the reflected light onto an enclosed linear CCD array based on the triangulation angle.
  • The Sharp IR has a non-linear output. This means that as the distance increases linearly (by set increments), the analog output increases/decreases non-linearly.
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  • To effectively use your Sharp IR Range Finder, you must have a voltage output versus distance chart to reference from.
  • One major issue with the Sharp IR Range Finder and that is going below the minimum sensor range. This is when an object is so close the sensor cannot get an accurate reading, and it tells your robot that a really close object is really far.
  • Another issue is the high narrowness of the IR beam. In reading sharp details and getting high accuracy, a thin beam is ideal. But the problem with a thin beam is that if it is not pointed exactly at the object, the object is therefore invisible.
  • A more advanced use for the Sharp IR Range Finder is to do mapping. To do this, you need at least one Range Finder, and at least one non-modified servo.
  • The sharp IR can be used as a quick and easy front non-contact robot bumper on your robot. Just place two IR devices in front of your robot and cross beams as shown. Ideally you would perfer to use rangers that have wider beams. Note: A single sonar can do this job just as well.
  • For example, a box in front of your robot might appear like this: 0 0 0 0 0 106 120 124 121 109 0 0 0 0 0
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