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33.6.1 FACTS AND FIGURES
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First some statistics. At sea level, sound travels at a speed of about 1130 f/s (about 344 m/s) or 13,560 in/s. While this time varies depending on atmospheric conditions, including air pressure (which varies by altitude), temperature, and humidity, it is a good value to use when working with an ultrasonic ranging system. The overall time between transmit pulse and echo is divided by two to compensate for the round-trip travel time between the robot and the object. Given a travel time of 13,560 in/s for sound, it takes just 73.7 s
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NAVIGATION
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FIGURE 33-13 Polaroid 6500 module with wires attached to simplify adding the circuit to a robot. Note that 1 A of current is required and to minimize noise in the rest of the circuit, a 1000 F capacitor is placed across the Polaroid 6500 s power leads.
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(0.0000737 s) for sound to travel 1 in. This means that for every 147.4 s of time, the distance between the transducer and an object changes by 1 in (2.5 cm).
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33.6.2 INTERFACING A POLAROID 6500 ULTRASONIC RANGE FINDER
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With the figure of 1 in per 147.4 s in the back of our minds, let s consider how the Polaroid ranging system works. The Ranging Module is connected to a computer or microcontroller using only two wires: INIT (for INITiate) and ECHO. INIT is an output, and ECHO is an input. The Ranging Module contains other I/O connections, such as BLNK and BINH, but these are not strictly required when you are determining distance to a single object, and so they will not be discussed here. To trigger the Ranging Module and have it send out a burst of ultrasonic sound, the computer or microcontroller brings the INIT line HIGH. The computer-microcontroller then waits for the ECHO line to change from LOW to HIGH. The time difference, in microseconds, is divided in two, and that gives you distance. To measure the time between the INIT pulse and the return ECHO, the computer or microcontroller uses a timer to precisely count the time interval. To demonstrate the operation of the Polaroid 6500 with a BS2, some additional circuitry has to be added as shown in Fig. 33-14 (parts list in Table 33-3). The 74LS123 and
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33.6 ULTRASONIC DISTANCE MEASUREMENT
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74LS74 create a delayed pulse that can be measured by a BASIC Stamp 2 s Pulsin statement. Using one of the single 74LS123 monostable multivibrator s single-shot outputs creates two D-flip flop triggering pulses that ensure that the resulting pulse passed to the BS2 has the same timing as the delay between the initialization of the Init and the Echo return as shown in Fig. 33-15. It is important to note that the Polaroid 6500 uses a massive amount of current when it is operating. To ensure that the BS2 and the TTL chips operation are not affected by the 6500, the 6500 is given a power supply separate from the other chips. For the prototype circuit, a 6-V lantern battery was used for powering the 6500. The BS2 s on-board regulator is used to power both it as well as the two TTL chips. When the 6500 is active, make sure the transducer is mounted on a nonconducting surface and you are not touching it! The 6500 will give you a nasty shock when it is active and could potentially damage any electronics that have common pins to it. The software to use the BS2/Polaroid 6500 combination follows and consists of resetting the 74LS74 D-flip flops before sending out the Init signal and waiting for the delayed pulse back.
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' ' ' ' ' BS2 Polaroid 6500 - Use Polaroid 6500 Sonar Ranging Module myke predko 04.01.25
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9 Volt Battery
6 Volt + Lantern Battery (See Text)
1 C1 2 3 C2 4 0.1 uF 5 6 7 8 9 10 11 12
24 23 22 21 20 19 18 17 16 15 14 13
7 9 2 4 8
Polaroid 6500 "Component Side"
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