Analog Distance Sensors

Analog Distance Sensors:

  • Fig. 1. Sharp GP2Y0A41SK0F (4-30 cm)  output distance characteristic from data sheet

GP2Y0A41SK0F (4-30 cm)

  • Fig. 2. Sharp GP2Y0A21YK0F (10-80 cm) output distance characteristic from data sheet
 

GP2Y0A21YK0F (10-80 cm)

In GP2Y0A41SK0F (4-30 cm) sensors testing I've used two analog inputs of Atmega 328 P available in the m3pi robot.

gp2y0a41sk0f_m3pigp2y0a41sk0f_m3pi_connection_of_sensors

Fig. 3. Connecting GP2Y0A41SK0F sensors to the m3pi robot.

Distance measurements for obstacles made of different materials and placed at various angles to the sensor:

gp2y0a41sk0f wooden box

Fig. 4a. Green wooden box placed in front of the sensor

gp2y0a41sk0f wooden box 45 degrees

Fig. 4b. Green wooden box placed at an angle of 45 degrees to the sensor

gp2y0a41sk0f metal box

Fig. 4c. White metal box placed in front of the sensor

gp2y0a41sk0f glass box

Fig. 4d. Glass box placed in front of the sensor

Voltage
    [V]
Measured
values -
10 bit ADC
5 1023
3,3 674
GP2Y0A41
distance [cm]
(S1)
green box
0 (wood)
(S1)
green box
45 (wood)
(S1)
white box
0 (metal)
(S1)
glass box
0
(S2)
green box
0 (wood)
1 388 535 407 132 418
2 498 633 463 132 502
3 620 552 614 170 606
4 535 463 534 145 517
5 451 392 455 116 433
6 388 342 388 79 369
7 338 304 338 87 325
8 300 273 297 100 287
9 268 249 261 79 255
10 241 226 230 87 232
11 222 213 209 83 215
12 205 194 190 83 195
13 190 182 174 79 180
14 178 170 157 71 168
15 166 162 145 75 156
16 152 148 132 79 143
17 144 141 124 79 135
18 136 132 116 54 127
19 128 125 108 66 119
20 120 120 100 66 111
21 116 112 91 62 107
22 108 108 87 59 104
23 104 104 79 58 96
24 100 100 70 54 92
25 96 100 67 50 88
26 91 96 70 46 84
27 87 91 66 58 80
28 83 87 63 55 75
29 79 83 58 47 72
30 79 79 50 50 72
35 66 66 42 34 60
40 54 59 34 17 52
45 50 50 34 13 44
50 42 46 34 7 40
no signal 270  


Tab. 2. Measured data from the sensors GP2Y0A41SK0F (4-30 cm).
GP2Y0A21
distance [cm]
(S1)
white box
0 (cardboard)
4,5 625
5 636
6 640
7 637
8 602
9 556
10 515
15 352
20 275
25 235
30 191
35 170
40 151
45 143
50 130
55 120
60 111
65 107
70 98
75 94
80 91
90 78
100 73
no signal 060
Tab. 3. Measured data from the sensors GP2Y0A21 (10-80 cm).

GP2Y0A41SK0F (4-30 cm)

Fig. 5. Sharp GP2Y0A41SK0F (4-30 cm)  output distance characteristic.

GP2Y0A41SK0F (4-30 cm)

Fig. 6. Sharp GP2Y0A41SK0F (4-30 cm) output distance characteristics for the obstacle located at different angles.

GP2Y0A41SK0F (4-30 cm)

Fig. 7. Output distance characteristics for two Sharp GP2Y0A41SK0F (4-30 cm) sensors.

GP2Y0A41SK0F (4-30 cm)

Fig. 8. Sharp GP2Y0A41SK0F(4-30 cm) sensor output distance characteristics for the obstacles made of various materials.

GP2Y0A41SK0F (4-30 cm)

Fig. 9. Sharp GP2Y0A41SK0F(4-30 cm) sensor output distance characteristics for the obstacles made of various materials.

white black orange box green orange yellow box

Fig. 10. Colorful box used in the measurements

gp2y0a41sk0f measurements for different colors

Fig. 11. Distance measurements for the different colors of objects