Where am I? Sensors and Methods for Mobile Robot Positioning

98 Part I Sensors for Mobile Robot Positioning
Transmit
driver
Receiver
AC
AMP
Analog
Trig in
Trig out
PRR
Internal
oscillator
Threshold
+V
GND
Vcc
Filter
Digital
timing
G
D
S
Latch
Figure 4.2: The single-transducer Massa E-220B-series ultrasonic ranging module
can be internally or externally triggered, and offers both analog and digital outputs.
(Courtesy of Massa Products Corp.)
Trigger
Pulse repetition rate period
Analog
Ring down
1st echo
2nd echo
Digital
Figure 4.3: Timing diagram for the E-220B series ranging module showing
analog and digital output signals in relationship to the trigger input. (Courtesy
of Massa Products Corp.)
Table 4.1: Specifications for the monostatic E-220B Ultrasonic Ranging Module Subsystems. The E-201
series is a bistatic configuration with very similar specifications. (Courtesy of Massa Products Corp.)
Parameter E-220B/215 E-220B/150 E-220B/40 E-220B/26 Units
Range 10 - 61
4 - 24
20 - 152
8 - 60
61 - 610
24 - 240
61 - 914 cm
24 - 360 in
Beamwidth 10 10 35 (15) 35 (15) (
Frequency 215 150 40 26 kHz
Max rep rate 150 100 25 20 Hz
Resolution 0.076
0.03
0.1
0.04
0.76
0.3
1 cm
0.4 in
Power 8 - 15 8 - 15 8 - 15 8 - 15 VDC
Weight 4 - 8 4 - 8 4 - 8 4 - 8 oz