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z0IIF}rkj8(D^R;v@0EE-$nIXS24`<@MH!H1@{0jfS9O~_1UG2hL9sl&e6OqbYcSua zi(zu9^eUT+v)Gd$EussGzgOJ#SrEW7d&S+rix5SVz*Se@v<7)li8sqAgYox@yMfQ9 zHOTJjy>dze6hO6^vsW5rNP=pr%EdMp#N>DN-urUOi^aZtuk^kxr<@>KE;{hv_1rb% z*klvdljgzY!I}~mm_aFH$yrDt;j0R!a}`Y(-W~&0V2~m!Z`ouAp}g<Q-YrY-@&T>I z_q{6j*cDv(7^_X1!GGWPuCK{VP#rXL+4HWv#}He5%}o?Qg^<ClTx&+PS9!1cOGO&$ zUgf>YH7|rzFqexR+CjC=<)Tb*31pOMl)?CP<<gbQW`k|HawyX%L*nn1yH{>GJGAF5 i(e*KzX~OmRdvJMh=1vo~$KQkUzAp<d%8>2<e-i-3BL{H+ literal 0 HcmV?d00001 diff --git a/Dokumentation/Sensoren.md b/Dokumentation/Sensoren.md index d270cc4..68e282e 100644 --- a/Dokumentation/Sensoren.md +++ b/Dokumentation/Sensoren.md @@ -22,9 +22,9 @@ ###### GPIO Belegung: -<img src="../Bilder/raspi4-gpio.png" alt="GPIO Belegung" width="500"> +<img src="https://www.raspberrypi.com/documentation/computers/images/GPIO-Pinout-Diagram-2.png" alt="GPIO Belegung" width="500"> -*[Quelle Bild](https://prilchen.de/raspberry-pis-gpio-ein-tor-zu-unzaehligen-projekten/)* +*[Quelle Bild](https://www.raspberrypi.com/documentation/computers/raspberry-pi.html)* ### Raspberry Pi Pico (Pico) @@ -36,6 +36,7 @@ Wir verwenden **Micropython** * - Micropython IDE für den PICO: [Thonny](https://thonny.org/) - In Thonny unter `Werkzeuge` -> `Optionen` -> `Interpreter` 'MicroPython (Raspberry Pi)' auswählen  + *Screenshot aus [Thonny](https://thonny.org/)* - Damit Code automatisch ausgeführt wird muss dieser auf dem Pico als `main.py` gespeichert werden Beispiele: diff --git "a/Komponenten/Sensorgeh\303\244use/README.md" "b/Komponenten/Sensorgeh\303\244use/README.md" index 0da2eb6..2f727eb 100644 --- "a/Komponenten/Sensorgeh\303\244use/README.md" +++ "b/Komponenten/Sensorgeh\303\244use/README.md" @@ -1,26 +1,28 @@ -# Einhausung Ultraschall + Radar +<img src="/Bilder/sensoreinhausung.jpg" alt="Sensoreinhausung" width="400"> -Ziel ist es den Ultraschall und den Radar mit einem Raspberry Pi Pico auszulesen und über diesen die Messwerte per USB Schnittstelle an den Raspberry Pi 4 des Turtlebots weiterzugeben. Hierfür braucht es ein Gehäuse in welchem -- HC-SR04 -- HLK-LD2450 -- und Raspberry Pi Pico +# Einhausung Liniensensoren + Ultraschall -Platz finden. Dieses wird vorne an den Turtlebot angebracht. Der USB Port des Pico muss zugänglich bleiben. +Ziel ist es die fünf Liniensensoren und einen Ultraschallsensor mit einem Raspberry Pi Pico auszulesen und über diesen die Messwerte per serieller USB Schnittstelle an den Raspberry Pi 4 weiterzugeben. Hierfür braucht es ein Gehäuse in welchem +- 1x HC-SR04, +- 5x TCRT5000 +- und der Raspberry Pi Pico -### Positionierung des HLK-LD2450 +Platz finden. Dieses wird vorne an den Turtlebot angebracht. Der USB Port des Picos muss zugänglich bleiben. -Um den HLK-LD2450 Radar-Sensor bei einem Abstand von 12 cm zum Boden so zu positionieren, dass er Menschen erkennt, die vor dem Turtlebot herlaufen, sollte der Sensor einen Winkel von 30° bis 45° nach oben zur Horizontalen einnehmen. +#### **Komponenten und Funktionen** -**1. Abstrahlbereich des Sensors:** -- Der HLK-LD2450 hat einen **vertikalen Abstrahlwinkel von ±10°**. Durch die Neigung wird dieser Bereich nach vorne geneigt, sodass: - - Der Radarstrahl nicht direkt den Boden erfasst. - - Der Strahl den Bereich etwa **1 bis 3 Meter vor dem Roboter** abdeckt. +##### **1. Liniensensoren (TCRT5000)** -**2. Kompensation für die niedrige Montagehöhe (12 cm):** -- Bei einer Montagehöhe von nur 12 cm liegt der Radarstrahl fast parallel zum Boden, wenn kein Neigungswinkel angewendet wird. Um Personen im Stehen oder Gehen zu erkennen, muss der Strahl nach oben geneigt werden. -- Ein **Winkel von 30° bis 45° zur Horizontalen** ermöglicht die Erfassung von Personen auf Kniehöhe bis hin zur Hüfte in einem typischen Bereich von 1 bis 3 Metern. +- Der Vorbau beherbergt **fünf TCRT5000-Liniensensoren**, die gleichmäßig im unteren Bereich positioniert sind. +- Die Sensoren sind nach unten gerichtet und messen die Reflexion von Infrarotlicht auf der Bodenoberfläche. Dies ermöglicht es dem TurtleBot, Bodenmarkierungen oder Linien präzise zu folgen. +- Die Sensoren wurden in einer leicht gebogenen Anordnung platziert, um eine optimale Abdeckung zu gewährleisten, auch bei Kurvenfahrten. -**Zusammenfassend:** -- **Höhe:** Der Sensor ist ca 12 cm über dem Boden montiert. -- **Effektiver Neigungswinkel:** **30° bis 45° zur Horizontalen** (nach oben geneigt). -- **Zielbereich:** Personen in einem Bereich von **1–3 Metern Entfernung** erkennen. \ No newline at end of file +##### **2. Ultraschallsensor (HC-SR04)** + +- Im vorderen Bereich des Vorbaus ist ein **HC-SR04-Ultraschallsensor** integriert. Dieser Sensor misst Entfernungen zu Objekten und erkennt Hindernisse in Fahrtrichtung. +- Die offene Platzierung des Sensors ermöglicht eine ungestörte Messung im Nahbereich und schützt ihn gleichzeitig vor physischen Einwirkungen. + +##### **3. Mikrocontroller (Raspberry Pi Pico)** + +- Ein **Raspberry Pi Pico** ist im Inneren des Gehäuses montiert und dient als zentrale Steuerungseinheit für die angeschlossenen Sensoren. +- Der Pico verarbeitet die Signale der Sensoren und sendet die Daten an die Hauptsteuerung des TurtleBot, dem Raspberry Pi 4, weiter. \ No newline at end of file -- GitLab