Underwater Ultrasonic Obstacle Avoidance Sensor -6m Arduino WiKi

Introduction

This is an underwater ultrasonic obstacle avoidance sensor specifically designed for underwater applications. It operates on a wide voltage range of 5-24V and features compact size, minimal blind spots, high precision, and high protection. Its underwater measurement range is from 5-600cm.

With an IP68 protection rating, this sensor can replace a camera for obstacle avoidance and meet the requirements of normal underwater navigation speeds. By using this obstacle avoidance sensor, underwater vehicles can achieve true "unmanned driving" without the need for human observation. Even at a depth of 10m, obstacle avoidance can still be easily accomplished.

Thanks to its small size and minimal blind spots, this sensor takes up minimal space and can be easily integrated into various projects.

Application Scenarios

Underwater robot obstacle avoidance and self-control detection
Measurement of water depth by underwater robots

Features

Compact in size, with a small blind zone
Lightweight and fast response time
Waterproof level of IP68

Specifications:

Measurement Range: 5-600cm
Measurement Accuracy: ±(0.5+S* 0.5%)cm@＜2m, ±(1+S* 1%)cm@＞2m
Operating Voltage: 5-24V
Standby Current: ≤1mA
Operating Current: ≤10mA
Output Mode: UART controlled
Power-on Startup Time: ≤500ms
Output Response Time: 14ms
Angle: 8-16°
Operating Temperature: -15~50°C
Storage Temperature: -25~80°C
Storage Humidity: 65%~90% RH (non-condensing)

Board Overview

Num	Label	Description
Red line	VCC	power supply input positive pole
Black line	GND	power ground wire
Yellow line	RX	UART receiving data line
white line	TX	UART transmitting data line

Dimensional Drawing

Output Format

1、communication instructions

Interface	Baud rate	Data bit	Stop bit	Check bit
UART	115200bps	8	1	None

2、Timing diagram

Timing diagram

Note: T1 ≥ 19ms; T2 ≈ 13ms

3、UART output format

Frame data	Output data	Description	Bytes
Frame header	0XFF	Frame header, fixed as 0XFF	1 byte
H_DATA	0X07	Higher 8 bits of distance data	1 byte
L_DATA	0XA1	Lower 8 bits of distance data	1 byte
SUM	0XA7	data checksum	1 byte

SUM= (header+Data_H+ Data_L)&0x00FF

=(0XFF + 0X07 + 0XA1)&0x00FF

=0XA7；

Distance value = DATA_ H * 256+DATA_L = 0x07A1;

Decimal conversion is equal to 1953;

Tutorial

Requirements

Hardware
- DFRduino UNO R3 (or similar) x 1
- Ultrasonic Ranging Sensor(3m) x1

Software
- Arduino IDE

Connection Diagram

Note: the sensor needs to be put into water to get data, otherwise the output distance value is 0

Sample Code

#include <SoftwareSerial.h>
unsigned char buffer_RTT[4] = {0};
uint8_t CS;
#define COM 0x55
int Distance = 0;
SoftwareSerial mySerial(7, 8); 
void setup() {
  Serial.begin(115200);
  mySerial.begin(115200);
}
void loop() {
  mySerial.write(COM);
  delay(100);
  if(mySerial.available() > 0){
    delay(4);
    if(mySerial.read() == 0xff){    
      buffer_RTT[0] = 0xff;
      for (int i=1; i<4; i++){
        buffer_RTT[i] = mySerial.read();   
      }
      CS = buffer_RTT[0] + buffer_RTT[1]+ buffer_RTT[2];  
      if(buffer_RTT[3] == CS) {
        Distance = (buffer_RTT[1] << 8) + buffer_RTT[2];
        Serial.print("Distance:");
        Serial.print(Distance);
        Serial.println("mm");
      }
    }
  }
}

Expected Results

Put the sensor into the water, and if there is an obstacle in front, the distance between the sensor and the obstacle will be printed by serial port.

FAQ

For any questions, advice or cool ideas to share, please visit the DFRobot Forum.

Underwater Ultrasonic Obstacle Avoidance Sensor -6m Arduino WiKi - DFRobot