{"id":832,"date":"2023-09-07T13:50:45","date_gmt":"2023-09-07T13:50:45","guid":{"rendered":"https:\/\/open-cube.fel.cvut.cz\/?page_id=832"},"modified":"2024-09-22T19:10:24","modified_gmt":"2024-09-22T19:10:24","slug":"sensors","status":"publish","type":"page","link":"https:\/\/open-cube.fel.cvut.cz\/?page_id=832","title":{"rendered":"Sensors"},"content":{"rendered":"\n

Newly developed, compatible with Open-Cube. <\/strong> UART communication, similar to EV3 sensors<\/p>\n\n\n\n

Currently, five sensors have been developed and produced in a small series of several tens of pieces (LIDAR, RGB-optical, Ultrasonic, Touch and AHRS).<\/p>\n\n\n\n

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LIDAR – laser distance sensor<\/strong><\/h4><\/div>\n\n\n\n

Based on ST.com VL53L1 – Time-of-Flight (ToF) ranging sensor – can measure distance from 40 mm up to 3000 mm or more.<\/p>\n\n\n\n

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VL53L1CB sensor block diagram by st.com. The sensor offers huge amount of features, currently we use just simple single object ranging with two possible field of view settings.<\/figcaption><\/figure>\n\n\n\n

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LASER distance sensor circuit diagram<\/figcaption><\/figure>\n\n\n\n

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PCB – top side<\/figcaption><\/figure>\n\n\n\n
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PCB – bottom side<\/figcaption><\/figure>\n\n\n\n
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KiCAD 3D model – helps to properly design the whole sensor<\/figcaption><\/figure>\n\n\n\n
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KiCAD 3D model exported into CAD software for more precise package design<\/figcaption><\/figure>\n\n\n\n
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Photo of the fully assembled sensor – PCB manufactured and SMD components soldered by JLCPCB.com, connectors were soldered in-house.<\/figcaption><\/figure>\n\n\n\n
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LASER ToF rangefinders in the 3D printed box<\/figcaption><\/figure>\n\n\n\n

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Optical reflective sensor, color sensor<\/h4><\/div>\n\n\n\n

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A classic sensor for a line-following robot, any object detection or color recognition….<\/p>\n\n\n\n

In this version, the external switching transistors used in v.0 have been replaced by available multiple GPIOs connected in parallel, configured as open-collector outputs and controlled “synchronously” via direct writes to the BSRR registers. The bigger STM32G030K8 was used instead of the J6 (SOIC-8) version because it was available in stock at jlcpcb, where the manufacturing was relatively cheap (when compared for example with allpcb).<\/p>\n\n\n\n

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RGB sensor v.1 circuit diagram, RGB LED is Dialight 521-8559<\/figcaption><\/figure>\n\n\n\n
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RGB sensor v.1 PCB – top side<\/figcaption><\/figure>\n\n\n\n
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RGB sensor v.1 PCB – bottom side<\/figcaption><\/figure>\n\n\n\n
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3D model from KiCAD PCB editor<\/figcaption><\/figure>\n\n\n\n
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First assembled pieces in a series of 50 produced by JLCPCB.com (connectors, RGB LED and photodiode soldered in-house).<\/figcaption><\/figure>\n\n\n\n
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RGB sensors in the 3D printed box<\/figcaption><\/figure>\n\n\n\n

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Ultrasonic rangefinder<\/h4><\/div>\n\n\n\n

…will appear here soon….
HC-SR04 RCWL-9610 + STM32G030K8 with LDO and LEGO connector<\/p>\n\n\n\n

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Commercial HC-SR04 ultrasonic rangefinder module available for 1-2 USD from various sources (Aliexpress, Ebay, Laskakit, Hadex…)<\/figcaption><\/figure>\n\n\n\n
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3D model of the HC-SR04 + LEGO adaptor combo, front side<\/figcaption><\/figure>\n\n\n\n
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3D model of the HC-SR04 + LEGO adaptor combo, back side<\/figcaption><\/figure>\n\n\n\n
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Circuit diagram of the adaptor board – the sense is to have the same communication protocol as uses EV3 ultrasonic (compatible with Open-Cube)<\/figcaption><\/figure>\n\n\n\n
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Adaptor PCB 3D model from KiCAD 7.0<\/figcaption><\/figure>\n\n\n\n
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Ultrasonic sensor enclosure prototype<\/figcaption><\/figure>\n\n\n\n

Touch sensor<\/h4><\/div>\n\n\n\n

PN11SBNA03QE (need to be tested for actuating force…) + 2k2 resistor + LEGO connector<\/p>\n\n\n\n

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Circuit diagram of the Open-Cube touch sensor (copy of EV3 touch sensor)<\/figcaption><\/figure>\n\n\n\n
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PCB for the touch sensor<\/figcaption><\/figure>\n\n\n\n
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AHRS sensor<\/h4>\n\n\n\n

“Attitude and Heading Reference System” – the sensor combines triaxial MEMS accelerometer & triaxial gyroscope (ICM42688) and triaxial AMR magnetometer (QMC5883L) into one sensor. It can provide each quantity individually or combined using a dedicated algorithm (Fusion* algorithm)<\/p>\n\n\n\n

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Circuit diagram of the AHRS sensor<\/figcaption><\/figure>\n\n\n\n
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PCB design of the AHRS sensor<\/figcaption><\/figure>\n\n\n\n
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3D of the PCB provided by KiCAD<\/figcaption><\/figure>\n\n\n\n
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The AHRS sensor is equipped with a 3D printed box similar to the other sensors… (two parts joined by screws, thread inserts used…)<\/figcaption><\/figure>\n\n\n\n

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Version 0 – sensor prototypes based on STM32G030J6 32-bit AMR microcontroller in 8-SOIC package<\/h4>\n\n\n\n
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LASER distance sensor v.0 circuit diagram (based on STM32G030J6 in SOIC-8)<\/figcaption><\/figure>\n\n\n\n
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PCB design (test of tracks rounding plug-in for KiCAD\u2026. just for fun\u2026)<\/figcaption><\/figure>\n\n\n\n
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Two sensors assembled<\/figcaption><\/figure>\n\n\n\n
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DEVkit for firmware development with STM32G030K8 with more IO-pins, so one can easily connect to SWD via STLink3,, power comes through TTL232R-3V3 FTDI cable and HT7533 LDO, otherwise programming the 8-pin microcontroller is pain-in-the-ass\u2026<\/figcaption><\/figure>\n\n\n\n

RGB sensor v.0<\/h4><\/div>\n\n\n\n
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RGB sensor circuit design<\/figcaption><\/figure>\n\n\n\n
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Open-Cube RGB sensor (two variants with different photodiode field of view \u2013 to test what is better\u2026)<\/figcaption><\/figure>\n\n\n\n
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First optical sensors up and running in demo-mode during Robot-competition 2023 at CTU-FEE<\/figcaption><\/figure>\n","protected":false},"excerpt":{"rendered":"

Newly developed, compatible with Open-Cube. UART communication, similar to EV3 sensors Currently, five sensors have been developed and produced in a small series of several tens of pieces (LIDAR, RGB-optical, Ultrasonic, Touch and AHRS). LIDAR – laser distance sensor Based on ST.com VL53L1 – Time-of-Flight (ToF) ranging sensor – can measure distance from 40 mm …<\/p>\n

Sensors<\/span> Read More »<\/a><\/p>\n","protected":false},"author":1,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"_uag_custom_page_level_css":"","site-sidebar-layout":"default","site-content-layout":"","ast-site-content-layout":"default","site-content-style":"default","site-sidebar-style":"default","ast-global-header-display":"","ast-banner-title-visibility":"","ast-main-header-display":"","ast-hfb-above-header-display":"","ast-hfb-below-header-display":"","ast-hfb-mobile-header-display":"","site-post-title":"","ast-breadcrumbs-content":"","ast-featured-img":"","footer-sml-layout":"","theme-transparent-header-meta":"","adv-header-id-meta":"","stick-header-meta":"","header-above-stick-meta":"","header-main-stick-meta":"","header-below-stick-meta":"","astra-migrate-meta-layouts":"set","footnotes":""},"uagb_featured_image_src":{"full":false,"thumbnail":false,"medium":false,"medium_large":false,"large":false,"1536x1536":false,"2048x2048":false},"uagb_author_info":{"display_name":"admin","author_link":"https:\/\/open-cube.fel.cvut.cz\/?author=1"},"uagb_comment_info":0,"uagb_excerpt":"Newly developed, compatible with Open-Cube. UART communication, similar to EV3 sensors Currently, five sensors have been developed and produced in a small series of several tens of pieces (LIDAR, RGB-optical, Ultrasonic, Touch and AHRS). LIDAR – laser distance sensor Based on ST.com VL53L1 – Time-of-Flight (ToF) ranging sensor – can measure distance from 40 mm…","_links":{"self":[{"href":"https:\/\/open-cube.fel.cvut.cz\/index.php?rest_route=\/wp\/v2\/pages\/832"}],"collection":[{"href":"https:\/\/open-cube.fel.cvut.cz\/index.php?rest_route=\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/open-cube.fel.cvut.cz\/index.php?rest_route=\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/open-cube.fel.cvut.cz\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/open-cube.fel.cvut.cz\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=832"}],"version-history":[{"count":36,"href":"https:\/\/open-cube.fel.cvut.cz\/index.php?rest_route=\/wp\/v2\/pages\/832\/revisions"}],"predecessor-version":[{"id":1216,"href":"https:\/\/open-cube.fel.cvut.cz\/index.php?rest_route=\/wp\/v2\/pages\/832\/revisions\/1216"}],"wp:attachment":[{"href":"https:\/\/open-cube.fel.cvut.cz\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=832"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}