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The Pololu IR beacon is a compact board that is used in pairs to allow robots to locate each other. Each board has infrared emitters that shine in all directions and four IR receivers for detecting the other beacon. The IR beacons have a range of about fifteen feet indoors. This item is for a pair of beacons in one package.
Pololu’s new IR beacon (infrared beacon) is an updated version of our original IR beacon. Like the original unit, the devices are transceivers meant to be used in pairs to give robots a simple means for detecting each other. You can use the beacons to build pairs of robots that interact or chase one another, or to make a robot that can identify and return to a home base. For example, you could build a “cat robot” and “mouse robot” that each have an IR beacon, where the cat chases the mouse and the mouse runs away from the cat. The beacons are ideal for autonomous robot contests in which robots compete in pairs, such as MIT’s annual 6.270 autonomous robot design competition, where our original beacons were used for several years.
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The new IR beacons feature round PCBs with six wide-angle emitters to provide uniform broadcasting in all directions. The operating voltage range has increased to 6 – 16 V, and on-board voltage monitoring enables a more consistent output brightness over the voltage range. Most components are pre-assembled, so all you need to solder is the capacitor, connectors, and sensors (make sure you solder them in from the bottom of the PCB!).
Note: The Pololu IR beacon is a kit; before using it, you need to assemble the beacon by soldering its components onto its circuit board. To use the kit in robotics projects, you need to connect it to your own robot controller. Please note that the IR beacons only work in pairs and that certain kinds of artificial lighting (e.g. some fluorescent lights) can interfere with the sensors.
Device Specifications
- PCB size: 1.35" circle
- IR modulation frequency: 56 kHz
- Output refresh rate 20 Hz
- Detection range: 6 inches to 20 feet
- Supply voltage: 6-16 V
- Data voltage: 5 V
- Number of IR detectors: 4
How the IR Beacons Work
(The following animations show the old IR beacon, but the operating principle is the same in the new, round units.)
The beacons work by transmitting and detecting infrared light, much like a television remote control. Each beacon has four IR emitters and four IR detectors. The beacons alternate between transmitting and receiving so that they never get confused by reflections of their own transmissions.
新的 Pololu's IR beacon 是由 original IR beacon 版本升級。如同原型，此裝置的收發意味著機器人可用簡單方法來偵測到對方。你可以使用 beacons 來建立一對機器人的互動、追逐另一方、使機器人可以辨識及回到基地。例如：建立機器貓及機器老鼠它們都有 IR beacon( 這樣貓可以抓老鼠，老鼠則跑給貓追 ) 如圖所示。 Beacons 很適合自主機器人的競賽，如： MIT's 一年一次的 6.270 autonomous robot design competition 而我們的原型 beacon 也在這個場合用的很多年。
新的 beacons 特色為圓形 PCBs 有六個廣角發射器，提供全方位一致性發送。其操作電壓範圍也提到高 6-16V 及內建的電壓監視使輸出亮度能夠一致超高過電壓範圍。大部分元件都預先組裝完成，所以你只需要與電容器、連接器及感測器焊接在一起即可 ( 確定你焊接在 PCB 底部 !)
Note ： Pololu IR beacon 套件；在你使用前需要零件焊接、組裝到電路板上。想要套用到機器人上必須要 beacon 與機器人控制器連接。請注意 IR beacons 只能成對工作及某些人工光源 ( 螢光燈 ) 會干擾感測器。
接下來我們用動畫來解說舊的 IR beacon ，與新的 IR beacon 是一樣的原理。
The transmit and detect cycle is carried out more than one thousand times per second, and a small microcontroller monitors all four detectors to decide the direction to the other beacon. The beacons have four red LEDs that indicate the direction to the other beacon; if you take two beacons and rotate them, the LEDs will always keep lighting up in the direction of the other beacon.
Beacons 藉由傳送與接收來偵測紅外光源，很像電視的遙控器。每一個 beacon 都有四個 IR 發設計及四個偵測器。 Beacons 彼此之間交替傳送與接收，所以不會相互干擾傳送。
Interfacing to the beacon is simple — it has four digital outputs that indicate which of its four sides detects the other beacon the strongest. You can establish the direction to another beacon to within a few degrees by rotating the beacon back and forth and noting the point where the output switches from one side to another. An enable input lets you select between active mode and a low-power mode.
傳送與偵測迴圈執行超過 1000 次 / 秒及小型的微控制器監視全部四個偵測器來決定其他 beacon 的方位。 Beacon 有四個紅色 LEDs 會顯示其他 beacon 的位置。假如你讓兩個 beacon 旋轉 ， LEDs 則會亮燈來顯示另一個 beacon 的位置。
IR Beacon Development Kit (Transmit-Only Beacon)
In response to customer requests, the IR beacon is available as just an assembled PCB with no IR sensors or firmware. This item is intended for advanced users who want to customize their IR beacon functionality by writing their own firmware. The main processor is a Microchip PIC16F630, and the PCB includes a footprint for a 5-pin header compatible with the PIC kit 2 programmer. The IR Receiver Modules are available separately. The schematic is shown below and is the only documentation shipped with this IR Beacon Development kit:
Beacon 的介面很簡單 ( 四個數位輸出來偵測四個方位其他的 beacon) ，藉由來回轉動些許角度及注意輸出開關點從這一邊道另外一邊你可以建立其他的 beacon 的方位。輸入功能可以選擇主動模式或是低功率模式。
IR Beacon開發套件 (Transmit-Only Beacon)
回應顧客的要求， IR beacon 可以不要裝上 IR 感測器或是 firmware 。這是進階延伸產品，使用者希望定製由自己寫的 firmware 的 IR beacon 。主要的處理器是 Microchip PIC 16F 630 而在 PCB 有 5 pin header 相容於 PIC 套件
重點注意 IR beacon 達到發亮及 IR LEDs 需要高電流，如果持續的開啟 IR LEDs 則會燒壞，當在測試 IR beacon ，可以用數位相機來做輔助確認 IR LEDs 為啟動。然而有些數位相機 ( 通常較昂貴 ) 有更好的紅外光濾鏡。在下圖，數位相機內 IR LEDs 顯示為紫色。但是單眼數位相機及圖中沒有顯示 LEDs 。
It is important to note that the IR beacon achieves its brighness by pulsing the IR LEDs with very high currents; turning on the IR LEDs continuously will burn them out. When testing the IR beacon, a digital camera can be useful in determining whether the IR LEDs are on. However, some cameras (usually more expensive ones) have better filters that block IR. In the picture below, a point-and-shoot camera shows the IR LEDs shining (in purple) but the DSLR with which the picture is taken does not show the LEDs.
使用在機器人上相互定位及原點基座搜尋復歸(Home base IR sensor)(四個 IR 接收器及六個廣角發射器)
室內有效範圍： 4.5m
Pololu IR 信號器 (beacon) 為小型板通常成對使用在機器人上來相互定位。每一塊板都有全方位發亮的紅外線發射器，四個接收其他信號器的 IR 接收器。 IR beacons 在室內有 4.5m 的有效範圍。 IR beacons 為單一組件。
