codingtello2 / ultrasoundsensorarray

Arduino+Python to create a ultrasound sensor array based on the HC-SR04

Ultrasound Sensor Array with Arduino and Python

This repository is part of this article

Using the cheap HC-SR04 ultrasonic sensor and an arduino nano we can build a low cost sensor array for robotics. The arduino code will poll all the sensors and send byte packets via serial interface with the index and the distance to a Python app to process.

For measuring the distances we use a sonar technique to calculate the time of flight of the sound. The HC-SR04 is very inaccurate for distance measurement but can be used as a cheap low level fail-safe system for proximity object detection in order to avoid hitting obstacles during navigation.

Byte protocol sensor array message

Byte 1	Byte 2	Byte 3	Byte 4	Byte 5
0x59	0x59	sensor_index	sensor_reading high byte	sensor_reading low byte

sensor_index is a one byte unsigned integer like uint8_t

sensor_reading is a two byte unsigned integer line unsigend int

Sonar Array Configuration with Rover4WD

Breadboard Schematics