SENSOR-GP2D12 distance measurement sensor

Two GP2D12 distance measurement sensor ; Two general purpose distance measuring sensors

(GP2D120) were used on the balancing robot in order to detect the current angular position of the

robot. The sensors are mounted on Perspex plate and placed at the front and back of the robot.

The line of sight is toward the ground at an angle of 90 degree. The output of the sensors is an

analog voltage. The GP2D12 can sense a height from minimum 4cm to maximum 30 cm. The

robots always balance by measuring the height at the front and back of it-self and rock the wheels

to maintain equal height.

The sensitivity of the sensor is measured by selecting the region of linearity the sensor behavior.

Fig. shown, the output sensor reading with small noise and this noise are filter-out by capacitor.