TDK CH101, Руководство пользователя

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AN-000349
Document Number: AN-000349
Page 6 of 23
Revision: 1.0
To simplify the evaluation and prototyping phase, certain aspects of the design can be simplified without significantly altering sensor
behavior and performance:
•
PIF can be omitted
•
Dimensions may be relaxed beyond tolerances stated in the drawing, though performance degrades more the further this is
relaxed.
If testing with 3D printed parts:
•
Use a high quality SLA 3D printer (0.05mm layer thickness or smaller)
•
It is strongly recommended to inspect parts for dimensional accuracy
•
Multiple 3D printing iterations may be required to fine tune dimensions and tolerances depending on your 3D printer and/or
material
2.3 MECHANICAL AND MODULE SETUP
The floor type and cliff detection algorithm are tuned and expect the sensor to be placed and orientated in a specific position for
optimal performance. The recommended design places the bottom on the Acoustic Interface 30mm from the floor. The bottom surface
of the RVC containing the Acoustic Interface should be parallel to the floor and the angle of the axis of the horn should be tilted 15
degrees from vertical.
The forward tilt of the horn allows the sensor to “look” ahead and detect cliffs earlier. However, too much tilt
will result in less of the reflected signal from the floor being returned to the sensor, reducing algorithm accuracy.
Figure 4. Cross section of one of the sensor modules, showing the recommended default mounting configuration. The bottom of the horn should
be positioned 30mm above the floor, with the horn tilted and pointing forwards at a 15 degree angle.
Robot
forward
motion