Plus5V Power

4

3

SRF04 Ultrasonic Range Finder Current 30mA Typ. 50mA Max

ground

1

2

trigger

+5V

echo

4

3

2

trigger

Sonar Modules

CONN16 Sonar 16

ground

1

+5V

echo

4

3

CONN15 Sonar 14

ground

2

1

echo

+5V

trigger

4

3

2

1

CONN14 Sonar 12

ground

trigger

+5V

echo

4

3

2

1

CONN13 Sonar 10

ground

trigger

+5V

echo

4

3

2

1

CONN12 Sonar 8

ground

trigger

+5V

echo

4

3

2

1

CONN11 Sonar 6

ground

trigger

+5V

echo

4

3

2

trigger

CONN10 Sonar 4

ground

echo

+5V

1

CONN9 Sonar 2

Frequency 40KHz Package 43mm x 20mm x 17mm height

3

1

3

47K

Q11 2N3904

2

1

Q12 2N3904

1

2 3

Q13 2N3904

R14 4K7 1

2

Q14 2N3904

2

3

3

R15 4K7 1

Q15 2N3904

Input Trigger 10uS Min. TTL level pulse

R16 4K7 1

2 3

Range Range 3cm − 3m

Sonar16Echo Signal Q16R16 Signal

Q10 2N3904

R13 4K7

Sonar14Echo Signal Q15R15 Signal

1

2

R12 4K7

Sonar12Echo Signal Q14R14 Signal

Q9 2N3904

2

R11 4K7

Sonar10Echo Signal Q13R13 Signal

1

R10 4K7

Sonar8Echo Signal Q12R12 Signal

R9 4K7

Sonar6Echo Signal Q11R11 Signal

Sonar4Echo Signal Q10R10 Signal

Q9R9 Signal

Sonar2Echo Signal

Q16 2N3904

Echo Pulse Positive TTL level signal, width proportional to range.

2 3

3

R19Out Power

R19

RC2:1 +5V

TI POWERTRENDS U2

RB0 Signal

RB1 Signal

RB2 Signal

RB3 Signal

RB4 Signal

RB5 Signal

RB6 Signal

RB7 Signal

3

OUT IN GND

Power Plus12V Fat

1

+12V ground

CONN17

RC5 Signal clock data

15

2

0.1uF

1

10uF

RC3

RC1:1

RC3 Signal

clock data ground

Y1

2

+5V

14

RC2 13

RC1 12

RC0

10

11

CLKIN

CLKOUT

Vss

9

8

RA5 7

RA5 Signal

RA4 6

R20Out Power

RA3 5

RA3 Signal

RA2 4

RA2 Signal

RA1 3

RA1 Signal

RA0 2

RA0 Signal

MCLR 1

R17Out Power

PIC16F876

RC2:1

C3 2

C4

+5V

3

CONN19 I2C

1

1

RC4

16 RC5

17 RC6

18

19 Vss

RC7

RB0

Vdd

20

21

22 RB1

RB2

23

24 RB3

RB4

25

26 RB5

27 RB6

RB7

28

ground

10K

2

7805 2

RC6 Signal

RC4 Signal

U1

1

3 2 1

4MHz CONN18

R17

I2C

4K7 +5V

R20 RC1:1 47K

R18Out Power

R18

CONN3

15pF

15pF

ground

trigger

Sonar 13

Sonar 15

CONN7

CONN8

4

3

4

+5V

ground

trigger

4K7 R8

echo

1

Q8R8 Signal

2

2

1

Q8 2N3904

4K7 R7

+5V

ground 4

3

trigger

echo

+5V 4

2

Sonar 11 CONN6

Q7R7 Signal

3

1

1

ground 3

Sonar 9 CONN5

2

2

Q7 2N3904

echo

Q6R6 Signal

C2

3

1

2

4K7 R6

trigger

echo

3

1

2

4

Q6 2N3904

4K7 R5

+5V

ground

trigger

Q5R5 Signal

2

1

Sonar 7 CONN4

3

1

Q5 2N3904

4K7 R4

3

4

Sonar 5

CONN2

Q4R4 Signal

+5V

ground 3

trigger

echo

+5V

1

4

2

ground

2

1

4K7 R3

Sonar 3

CONN1

Q4 2N3904

echo

Q3R3 Signal

3

2

2

1

3

1

4

Sonar 1

3

1

Q3 2N3904

4K7 R2

+5V

ground

trigger

Q2R2 Signal

trigger

2

1

3

1

3

echo

Q2 2N3904

4K7 R1

+5V

1

Q1R1 Signal

2

2

echo

Q1 2N3904

3

2

3

C1

DESIGNER’S NOTES Description The Devantech SRF04 range finder provides precise non−contact distance measurement Your controller only has to time the length of the echo pulse to find the range.

Usage You only need to supply a short 10uS pulse to the trigger input to start the ranging.

URLs The echo line is therefore a pulse whose width is proportional to the distance

The SRF04 will send out an 8 cycle burst

of ultrasound at 40khz and raise its echo line high. It then listens for an echo

and as soon as it detects one

it lowers the echo line again.

By timing the pulse it is possible to calculate the range in inches/centimeters

http://www.lynxmotion.com/Product.aspx?productID=258&CategoryID=44 http://www.robot−electronics.co.uk/shop/Ultrasonic_Ranger_SRF041999.htm

If nothing is detected then the SRF04 will lower its echo line

Sonar Array Module

TITLE

http://www.rentron.com/remote_control/SRF04.htm http://www.robot−electronics.co.uk/htm/srf04tech.htm

FILE: DATE PAGE

Copyright (C) 2003 Dafydd Walters

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