{"id":3193,"date":"2024-11-09T00:48:52","date_gmt":"2024-11-08T15:48:52","guid":{"rendered":"https:\/\/www.dogrow.net\/elecronics\/?p=3193"},"modified":"2025-05-22T20:51:54","modified_gmt":"2025-05-22T11:51:54","slug":"blog53","status":"publish","type":"post","link":"https:\/\/www.dogrow.net\/elecronics\/blog53\/","title":{"rendered":"(53) \u8d85\u97f3\u6ce2\u8ddd\u96e2\u30bb\u30f3\u30b5\u30fc\u3092\u4f7f\u3063\u3066\u307f\u308b\u3002"},"content":{"rendered":"

\u30101\u3011\u3084\u308a\u305f\u3044\u3053\u3068<\/h1>\n

\u8d85\u97f3\u6ce2\u8ddd\u96e2\u30bb\u30f3\u30b5\u30fc HC-SR04 \u3092\u4f7f\u3044\u3001\u8eab\u8fd1\u306a\u7269\u3068\u306e\u9593\u306e\u8ddd\u96e2\u3092\u6e2c\u5b9a\u3057\u3066\u307f\u305f\u3044\u3002<\/p>\n

https:\/\/akizukidenshi.com\/catalog\/g\/g111009\/
\n\"\"<\/a><\/p>\n

\u3082\u3057\u3001\u8aa4\u5dee\u91cf\u304c\u5c0f\u3055\u3051\u308c\u3070\u3001\u8272\u3005\u3068\u4f7f\u3063\u3066\u307f\u305f\u3044\u5834\u9762\u304c\u3042\u308b\u3002<\/p>\n

\u30102\u3011\u60c5\u5831\u53ce\u96c6<\/h1>\n

(1) \u30c7\u30fc\u30bf\u30b7\u30fc\u30c8<\/h3>\n

\u4e0a\u8a18\u306e\u79cb\u6708\u96fb\u5b50\u3055\u3093\u306e\u8ca9\u58f2\u30da\u30fc\u30b8\u306e\u4e2d\u306b\u3001\u30c7\u30fc\u30bf\u30b7\u30fc\u30c8\u304c\u7f6e\u3044\u3066\u3042\u308b\u3002
\nhttps:\/\/akizukidenshi.com\/goodsaffix\/hc-sr04_v20.pdf<\/a><\/p>\n

\u30c7\u30fc\u30bf\u30b7\u30fc\u30c8\u3092\u898b\u308b\u3068\u300cI2C\u3067\u4f7f\u3048\u308b\u300d\u3068\u66f8\u304b\u308c\u3066\u3044\u308b\u304c\u3001\u30de\u30a4\u30b3\u30f3\u5074\u304b\u3089 I2C\u30d0\u30b9\u4e0a\u3092\u30b9\u30ad\u30e3\u30f3\u3057\u3066\u3082\u691c\u51fa\u3055\u308c\u306a\u304b\u3063\u305f…
\n\u63a5\u7d9a\u7aef\u5b50\u306f\u9593\u9055\u3063\u3066\u3044\u306a\u3044\u306f\u305a\u3060\u304c… (\u5f8c\u65e5\u518d\u78ba\u8a8d)<\/span><\/p>\n

\u25a0\u30d4\u30f3\u914d\u7f6e<\/span>
\n\"\" \"\"<\/p>\n

\u30103\u3011\u56de\u8def\u306e\u7d50\u7dda<\/h1>\n

\"\"<\/p>\n\n
Pin#<\/th>GPIO#<\/th>Signal<\/th><\/tr>
1<\/td>-<\/td>VCC 3.3V<\/td><\/tr>
6<\/td>-<\/td>GND<\/td><\/tr>
8<\/td>14<\/td>Echo<\/td><\/tr>
10<\/td>15<\/td>Trig<\/td><\/tr>\n<\/table>\n

\u306a\u304a\u3001HC-SR04\u3092 3.3V\u3067\u99c6\u52d5\u3059\u308b\u305f\u3081\u3001Echo\u7dda\u304b\u3089\u51fa\u529b\u3055\u308c\u308b\u4fe1\u53f7\u3082 3.3V\u3060\u3002
\n\u3088\u3063\u3066\u3001Echo\u7dda\u304b\u3089\u51fa\u529b\u3055\u308c\u308b\u96fb\u5727\u3092\u5206\u5727\u3059\u308b\u305f\u3081\u306e\u62b5\u6297\u306f\u4e0d\u8981\u3060\u3002<\/p>\n

\u30104\u3011\u30d7\u30ed\u30b0\u30e9\u30df\u30f3\u30b0<\/h1>\n

Step 1: \u30df\u30cb\u30de\u30e0\u5b9f\u88c5<\/h2>\n
\r\n# Step 1 : \u30df\u30cb\u30de\u30e0\u5b9f\u88c5\r\n \r\n# gpiozero\u30e9\u30a4\u30d6\u30e9\u30ea\u304b\u3089DistanceSensor\u30af\u30e9\u30b9\u3092\u8aad\u307f\u8fbc\u3080\r\nfrom gpiozero import DistanceSensor\r\n \r\n# \u30d7\u30ed\u30b0\u30e9\u30e0\u306e\u5f85\u6a5f\u306b\u4f7f\u7528\u3059\u308bsleep\u95a2\u6570\u3092time\u30e9\u30a4\u30d6\u30e9\u30ea\u304b\u3089\u8aad\u307f\u8fbc\u3080\r\nfrom time import sleep\r\n \r\n# \u30d7\u30ed\u30b0\u30e9\u30e0\u7d42\u4e86\u7528\u306e\u95a2\u6570\u3092\u4f7f\u3046\u305f\u3081\u306bsys\u30e9\u30a4\u30d6\u30e9\u30ea\u3092\u8aad\u307f\u8fbc\u3080\r\nimport sys\r\n \r\n# \u30c8\u30ea\u30ac\u30fc\u30d4\u30f3\u3068\u30a8\u30b3\u30fc\u30d4\u30f3\u306e\u8a2d\u5b9a\r\ntrig_pin = 15  # GPIO 15\u756a\u30d4\u30f3\u306b\u30c8\u30ea\u30ac\u30fc\u30d4\u30f3\u3092\u8a2d\u5b9a\r\necho_pin = 14  # GPIO 14\u756a\u30d4\u30f3\u306b\u30a8\u30b3\u30fc\u30d4\u30f3\u3092\u8a2d\u5b9a\r\n \r\n# DistanceSensor \u30af\u30e9\u30b9\u306e\u30a4\u30f3\u30b9\u30bf\u30f3\u30b9\u3092\u4f5c\u6210\u3057\u3001\u30bb\u30f3\u30b5\u30fc\u3092\u521d\u671f\u5316\u3059\u308b\r\n# echo\u30d4\u30f3\u3068trigger\u30d4\u30f3\u306b\u6307\u5b9a\u3057\u305fGPIO\u30d4\u30f3\u3092\u63a5\u7d9a\u3057\u3001\u6700\u5927\u8ddd\u96e2\u30922\u30e1\u30fc\u30c8\u30eb\u306b\u8a2d\u5b9a\r\nsensor = DistanceSensor(echo=echo_pin, trigger=trig_pin, max_distance=2.0)  # max_distance\u306f\u30e1\u30fc\u30c8\u30eb\u5358\u4f4d\r\n \r\n# \u30d7\u30ed\u30b0\u30e9\u30e0\u306e\u30e1\u30a4\u30f3\u51e6\u7406\u90e8\u5206\r\ntry:\r\n    while True:     # \u7121\u9650\u30eb\u30fc\u30d7\u3092\u958b\u59cb\u3057\u3001\u5e38\u306b\u8ddd\u96e2\u3092\u6e2c\u5b9a\u3059\u308b\r\n        sleep(0.2)  # \u6e2c\u5b9a\u7d50\u679c\u306e\u53d6\u5f97\u524d\u306b200\u30df\u30ea\u79d2\uff080.2\u79d2\uff09\u5f85\u6a5f\uff08\u30bb\u30f3\u30b5\u30fc\u306e\u4ed5\u69d8\uff09\r\n        distance = sensor.distance * 100  # \u30bb\u30f3\u30b5\u30fc\u306e\u6e2c\u5b9a\u5024\uff08\u30e1\u30fc\u30c8\u30eb\uff09\u3092\u30bb\u30f3\u30c1\u30e1\u30fc\u30c8\u30eb\u306b\u5909\u63db\r\n        print("Distance: {:.1f}cm".format(distance))  # \u5c0f\u6570\u70b91\u6841\u3067\u8ddd\u96e2\u3092\u8868\u793a\u3059\u308b\r\n \r\n# \u30ad\u30fc\u30dc\u30fc\u30c9\u3067\u306e\u4e2d\u65ad\uff08Ctrl+C\uff09\u306b\u5bfe\u5fdc\u3059\u308b\u51e6\u7406\r\nexcept KeyboardInterrupt:\r\n    print("\u30d7\u30ed\u30b0\u30e9\u30e0\u3092\u7d42\u4e86\u3057\u307e\u3059\u3002")  # \u4e2d\u65ad\u30e1\u30c3\u30bb\u30fc\u30b8\u3092\u8868\u793a\r\n    sys.exit()                         # \u30d7\u30ed\u30b0\u30e9\u30e0\u3092\u7d42\u4e86\u3059\u308b\r\n<\/pre>\n
max_distance\u3092\u6307\u5b9a\u3059\u308b\u610f\u5473\u306f\uff1f<\/span>
\n\u6700\u5927\u5024\u3092\u6307\u5b9a\u3059\u308b\u3068\u5206\u89e3\u80fd\u304c\u5411\u4e0a\u3059\u308b\uff1f
\n\u3000\u2193 No \u2193
\nmax_distance=2.0 \u306f\u3001\u30bb\u30f3\u30b5\u30fc\u304c\u8a08\u6e2c\u3059\u308b\u6700\u5927\u8ddd\u96e2\u3092\u30e1\u30fc\u30c8\u30eb\u5358\u4f4d\u3067\u6307\u5b9a\u3057\u3066\u3044\u307e\u3059\u3002
\n\u3053\u306e\u30d1\u30e9\u30e1\u30fc\u30bf\u306f\u89e3\u50cf\u5ea6\u3084\u7cbe\u5ea6\u306e\u5411\u4e0a\u306b\u306f\u76f4\u63a5\u95a2\u4fc2\u3057\u307e\u305b\u3093\u304c\u3001\u3044\u304f\u3064\u304b\u306e\u5f79\u5272\u304c\u3042\u308a\u307e\u3059\u3002<\/p>\n
\u25a0\u8a08\u6e2c\u7bc4\u56f2\u306e\u5236\u9650
\n\u30bb\u30f3\u30b5\u30fc\u304c\u5fdc\u7b54\u3059\u308b\u8ddd\u96e2\u306e\u7bc4\u56f2\u3092\u5236\u9650\u3057\u307e\u3059\u3002
\n\u4f8b\u3048\u3070\u3001max_distance=2.0 \u306b\u8a2d\u5b9a\u3059\u308b\u3068\u30012\u30e1\u30fc\u30c8\u30eb\u4ee5\u4e0a\u306e\u8ddd\u96e2\u3067\u306f\u6e2c\u5b9a\u7d50\u679c\u304c\u8fd4\u3055\u308c\u306a\u304f\u306a\u308a\u307e\u3059\u3002<\/p>\n
\u25a0\u5fdc\u7b54\u901f\u5ea6\u306e\u5411\u4e0a
\n\u30bb\u30f3\u30b5\u30fc\u306f\u8d85\u97f3\u6ce2\u304c\u53cd\u5c04\u3057\u3066\u623b\u3063\u3066\u304f\u308b\u307e\u3067\u306e\u6642\u9593\u3092\u8a08\u6e2c\u3057\u3066\u8ddd\u96e2\u3092\u7b97\u51fa\u3057\u307e\u3059\u3002
\n\u8a2d\u5b9a\u3057\u305f max_distance \u304c\u77ed\u3044\u307b\u3069\u3001\u8a08\u6e2c\u306e\u30bf\u30a4\u30e0\u30a2\u30a6\u30c8\u3082\u77ed\u304f\u306a\u308b\u305f\u3081\u3001\u5fdc\u7b54\u901f\u5ea6\u304c\u308f\u305a\u304b\u306b\u901f\u304f\u306a\u308a\u307e\u3059\u3002<\/p>\n
\u25a0\u4e0d\u8981\u306a\u30a8\u30b3\u30fc\u306e\u30d5\u30a3\u30eb\u30bf\u30ea\u30f3\u30b0
\n\u9060\u8ddd\u96e2\u304b\u3089\u306e\u4e0d\u8981\u306a\u53cd\u5c04\uff08\u30a8\u30b3\u30fc\uff09\u3092\u9664\u5916\u3067\u304d\u307e\u3059\u3002
\n\u3053\u308c\u306b\u3088\u308a\u3001\u6307\u5b9a\u8ddd\u96e2\u4ee5\u5185\u306e\u5bfe\u8c61\u7269\u306b\u5bfe\u3059\u308b\u8a08\u6e2c\u306e\u5b89\u5b9a\u6027\u304c\u5411\u4e0a\u3059\u308b\u53ef\u80fd\u6027\u304c\u3042\u308a\u307e\u3059\u304c\u3001\u89e3\u50cf\u5ea6\u3084\u7cbe\u5ea6\u81ea\u4f53\u306b\u306f\u5f71\u97ff\u3092\u4e0e\u3048\u307e\u305b\u3093\u3002<\/p>\n
\u3057\u304b\u3057…
\n\u4eca\u56de\u4f7f\u7528\u3059\u308b\u30bb\u30f3\u30b5\u30fc\u306eI\/F\u4ed5\u69d8\u3092\u78ba\u8a8d\u3059\u308b\u3068\u3001\u6700\u5927\u8ddd\u96e2\u306e\u6307\u5b9a\u306f\u3067\u304d\u306a\u3044\u3002<\/span>
\n\u3064\u307e\u308a…
\ngpiozero\u30e9\u30a4\u30d6\u30e9\u30ea\u306eI\/F\u4ed5\u69d8\u306b\u306f\u5b58\u5728\u3059\u308b\u304c\u3001\u30bb\u30f3\u30b5\u30fc\u5236\u5fa1\u306b\u306f\u5168\u304f\u4f7f\u308f\u308c\u306a\u3044\u30d1\u30e9\u30e1\u30fc\u30bf\u30fc\u3060\u3002<\/span><\/p>\n
Step 2 : \u3082\u3046\u5c11\u3057\u4f4e\u6c34\u6e96\u306a\u66f8\u304d\u65b9\u306b\u5909\u66f4<\/h2>\n
DistanceSensor()\u304c\u30d6\u30e9\u30c3\u30af\u30dc\u30c3\u30af\u30b9\u306e\u305f\u3081\u306b\u30c7\u30d0\u30a4\u30b9\u5236\u5fa1\u306e\u4e2d\u8eab\u304c\u898b\u3048\u306a\u3044\u3002
\n\u305d\u3053\u3067\u3001\u3053\u308c\u3092\u4f7f\u308f\u305a\u306b\u76f4\u63a5 echo\u7aef\u5b50\u306e\u5165\u529b\u5024\u3092\u53c2\u7167\u3057\u3066\u6e2c\u8ddd\u3059\u308b\u30d7\u30ed\u30b0\u30e9\u30e0\u306b\u66f8\u304d\u63db\u3048\u308b\u3002<\/p>\n
\r\n# Step 2 : \u30df\u30cb\u30de\u30e0\u5b9f\u88c5\uff08\u5c11\u3057\u4f4e\u6c34\u6e96\u306a\u66f8\u304d\u65b9\u306b\u5909\u66f4\uff09\r\n\r\nfrom gpiozero import DigitalInputDevice, DigitalOutputDevice\r\nfrom time import time, sleep\r\n\r\n# TRIG\u3068ECHO\u306e\u30d4\u30f3\u3092\u8a2d\u5b9a\r\ntrig_pin = DigitalOutputDevice(15)   # GPIO#15\r\necho_pin = DigitalInputDevice(14)    # GPIO#14\r\n\r\n# \u8d85\u97f3\u6ce2\u30bb\u30f3\u30b5\u30fc\u3067\u8ddd\u96e2\u3092\u6e2c\u5b9a\u3059\u308b\u95a2\u6570\r\ndef measure_distance():\r\n    # \u30c8\u30ea\u30ac\u30fc\u30d4\u30f3\u306b10\u30de\u30a4\u30af\u30ed\u79d2\u306e\u30d1\u30eb\u30b9\u3092\u9001\u4fe1\r\n    trig_pin.on()\r\n    sleep(0.00001)  # 10\u03bcs\u5f85\u3064\r\n    trig_pin.off()\r\n    \r\n    # \u30a8\u30b3\u30fc\u4fe1\u53f7\u306e\u7acb\u3061\u4e0a\u304c\u308a\u3092\u5f85\u3064\r\n    while not echo_pin.is_active:\r\n        pass\r\n    start_time = time()\r\n    \r\n    # \u30a8\u30b3\u30fc\u4fe1\u53f7\u306e\u7acb\u3061\u4e0b\u304c\u308a\u3092\u5f85\u3064\r\n    while echo_pin.is_active:\r\n        pass\r\n    end_time = time()\r\n    \r\n    # \u6642\u9593\u5dee\uff08\u79d2\uff09\u3092\u8a08\u7b97\r\n    duration = end_time - start_time\r\n    \r\n    # \u8ddd\u96e2\u3092\u8a08\u7b97\uff08\u97f3\u901f: 343 m\/s\uff09\r\n    distance_cm = (duration * 34300) \/ 2  # \u5f80\u5fa9\u306a\u306e\u30672\u3067\u5272\u308b\r\n    return distance_cm\r\n\r\ntry:\r\n    while True:\r\n        # \u8ddd\u96e2\u3092\u6e2c\u5b9a\r\n        distance = measure_distance()\r\n        print(f"Distance: {distance:.2f} cm")\r\n        sleep(1)\r\nexcept KeyboardInterrupt:\r\n    print("Measurement stopped by user.")\r\n<\/pre>\n
Step 1 \u306e\u5b9f\u88c5\u3088\u308a\u3082\u6e2c\u5b9a\u7d50\u679c\u306e\u3070\u3089\u3064\u304d\u304c\u5927\u304d\u3044…<\/span>
\n\u540c\u3058 gpiozero\u3092\u4f7f\u3046\u65b9\u6cd5\u3067\u3082\u3001DistanceSensor() \u3092\u4f7f\u3063\u305f\u65b9\u304c\u6e2c\u5b9a\u7d50\u679c\u304c\u5b89\u5b9a\u3059\u308b\u3088\u3046\u3060\u3002<\/p>\n
pigpio<\/span> \u304c\u4f7f\u3048\u308c\u3070\u3088\u3044\u306e\u3060\u304c\u3001\u30e9\u30ba\u30d1\u30a45\u3067\u306f pigpio\u304c\u4f7f\u3048\u306a\u3044\u306e\u3060…
\n\u53c2\u8003\uff1a pigpio will not run on a Pi 5<\/a><\/p>\n
Step 3 : \u6e2c\u5b9a\u7d50\u679c\u306e\u53ce\u675f\u5224\u5b9a\u3092\u7d44\u307f\u8fbc\u3080<\/h2>\n
\u672c\u6e2c\u5b9a\u5668\u3092\u624b\u6301\u3061\u3067\u6e2c\u5b9a\u3092\u5b9f\u65bd\u3059\u308b\u5834\u5408\u3001\u624b\u306e\u63fa\u308c\u306a\u3069\u306b\u3088\u308a\u6e2c\u5b9a\u5024\u306b\u5fae\u5c0f\u306a\u5909\u52d5\u304c\u751f\u3058\u308b\u3002
\n\u3053\u306e\u305f\u3081\u3001\u5f53\u8a72\u74b0\u5883\u4e0b\u306b\u304a\u3044\u3066\u3001\u9023\u7d9a10\u56de\u306e\u6e2c\u5b9a\u3067\u5b89\u5b9a\u3057\u305f\u7d50\u679c\u304c\u5f97\u3089\u308c\u305f\u5834\u5408\u306b\u9650\u308a\u3001\u305d\u306e\u5024\u3092\u63a1\u7528\u3059\u308b\u3082\u306e\u3068\u3059\u308b\u3002
\n\u3000\u2193\u2193\u2193
\nStep 1 \u306e\u30d7\u30ed\u30b0\u30e9\u30e0\u306b \u6e2c\u5b9a\u7d50\u679c\u306e\u53ce\u675f\u3092\u5224\u5b9a\u3059\u308b\u51e6\u7406<\/span> \u3092\u8ffd\u52a0\u5b9f\u88c5\u3059\u308b\u3002<\/p>\n
\r\n# Step 3 : \u4e71\u308c\u308b\u6e2c\u5b9a\u7d50\u679c\u3092\u6a19\u6e96\u504f\u5dee\u3092\u7528\u3044\u3066\u53ce\u675f\u5224\u5b9a\u3059\u308b\u3002\r\n \r\nimport gpiozero\r\nimport time\r\nimport sys\r\nimport numpy as np\r\n \r\n# \u30c8\u30ea\u30ac\u30fc\u30d4\u30f3\u3068\u30a8\u30b3\u30fc\u30d4\u30f3\u306e\u8a2d\u5b9a\r\ntrig_pin = 15  # GPIO 15\u756a\u30d4\u30f3\u306b\u30c8\u30ea\u30ac\u30fc\u30d4\u30f3\u3092\u8a2d\u5b9a\r\necho_pin = 14  # GPIO 14\u756a\u30d4\u30f3\u306b\u30a8\u30b3\u30fc\u30d4\u30f3\u3092\u8a2d\u5b9a\r\n \r\n# DistanceSensor \u30af\u30e9\u30b9\u306e\u30a4\u30f3\u30b9\u30bf\u30f3\u30b9\u3092\u4f5c\u6210\u3057\u3001\u30bb\u30f3\u30b5\u30fc\u3092\u521d\u671f\u5316\u3059\u308b\r\n# echo\u30d4\u30f3\u3068trigger\u30d4\u30f3\u306b\u6307\u5b9a\u3057\u305fGPIO\u30d4\u30f3\u3092\u63a5\u7d9a\u3057\u3001\u6700\u5927\u8ddd\u96e2\u30922\u30e1\u30fc\u30c8\u30eb\u306b\u8a2d\u5b9a\r\nsensor = gpiozero.DistanceSensor(echo=echo_pin, trigger=trig_pin, max_distance=2.0)  # max_distance\u306f\u30e1\u30fc\u30c8\u30eb\u5358\u4f4d\r\n \r\n# \u904e\u53bb10\u56de\u306e\u8ddd\u96e2\u6e2c\u5b9a\u5024\u3092\u683c\u7d0d\u3059\u308b\u30ea\u30b9\u30c8\u3092\u521d\u671f\u5316\r\ndistance_history = []\r\n \r\n# \u30e1\u30a4\u30f3\u51e6\u7406\u3092try\u30d6\u30ed\u30c3\u30af\u3067\u56f2\u307f\u3001\u30ad\u30fc\u30dc\u30fc\u30c9\u5272\u308a\u8fbc\u307f\u3092\u691c\u51fa\r\ntry:\r\n    while True:  # \u7121\u9650\u30eb\u30fc\u30d7\u3092\u958b\u59cb\u3057\u3001\u5e38\u306b\u8ddd\u96e2\u3092\u6e2c\u5b9a\u3059\u308b\r\n        time.sleep(0.2)  # \u6b21\u306e\u6e2c\u5b9a\u307e\u3067200\u30df\u30ea\u79d2\u5f85\u6a5f\uff08\u30bb\u30f3\u30b5\u30fc\u306e\u4ed5\u69d8\uff09\r\n        distance = sensor.distance * 100  # \u30bb\u30f3\u30b5\u30fc\u306e\u6e2c\u5b9a\u5024\uff08\u30e1\u30fc\u30c8\u30eb\uff09\u3092\u30bb\u30f3\u30c1\u30e1\u30fc\u30c8\u30eb\u306b\u5909\u63db\r\n        print("Distance: {:.1f}cm".format(distance))  # \u5c0f\u6570\u70b91\u6841\u3067\u8ddd\u96e2\u3092\u8868\u793a\r\n \r\n        # \u6e2c\u5b9a\u7d50\u679c\u3092distance_history\u30ea\u30b9\u30c8\u306b\u8ffd\u52a0\r\n        distance_history.append(distance)\r\n        if len(distance_history) > 10:  # \u30ea\u30b9\u30c8\u304c10\u500b\u306e\u30c7\u30fc\u30bf\u3092\u8d85\u3048\u305f\u5834\u5408\u3001\u6700\u3082\u53e4\u3044\u30c7\u30fc\u30bf\u3092\u524a\u9664\r\n            distance_history.pop(0)\r\n \r\n        # \u30ea\u30b9\u30c8\u306b10\u500b\u306e\u30c7\u30fc\u30bf\u304c\u63c3\u3063\u305f\u3089\u53ce\u675f\u5224\u5b9a\u3092\u5b9f\u65bd\r\n        if len(distance_history) == 10:\r\n            std_dev = np.std(distance_history)  # \u904e\u53bb10\u56de\u306e\u6e2c\u5b9a\u7d50\u679c\u306e\u6a19\u6e96\u504f\u5dee\u3092\u8a08\u7b97\r\n            print("std_dev = {:.3f}".format(std_dev))  # \u6a19\u6e96\u504f\u5dee\u3092\u5c0f\u6570\u70b93\u6841\u3067\u8868\u793a\r\n            if std_dev < 0.5:  # \u6a19\u6e96\u504f\u5dee\u304c0.5\u672a\u6e80\u306e\u5834\u5408\u306f\u6e2c\u5b9a\u5024\u304c\u5b89\u5b9a\u3057\u305f\u3068\u5224\u65ad\r\n                avg_distance = np.mean(distance_history)  # \u904e\u53bb10\u56de\u306e\u6e2c\u5b9a\u5024\u306e\u5e73\u5747\u3092\u8a08\u7b97\r\n                print("Stable Distance Measurement: {:.1f}cm".format(avg_distance))  # \u5b89\u5b9a\u3057\u305f\u5e73\u5747\u5024\u3092\u8868\u793a\r\n                break  # \u30eb\u30fc\u30d7\u3092\u7d42\u4e86\r\n \r\n# \u30ad\u30fc\u30dc\u30fc\u30c9\u3067\u306e\u4e2d\u65ad\uff08Ctrl+C\uff09\u306b\u5bfe\u5fdc\u3059\u308b\u51e6\u7406\r\nexcept KeyboardInterrupt:\r\n    print("\u30d7\u30ed\u30b0\u30e9\u30e0\u3092\u7d42\u4e86\u3057\u307e\u3059\u3002")  # \u4e2d\u65ad\u30e1\u30c3\u30bb\u30fc\u30b8\u3092\u8868\u793a\r\n    sys.exit()  # \u30d7\u30ed\u30b0\u30e9\u30e0\u3092\u7d42\u4e86\u3059\u308b\r\n<\/pre>\n
\u53ce\u675f\u5224\u5b9a\u306b\u5e73\u5747\u3067\u306f\u306a\u304f\u6a19\u6e96\u504f\u5dee\u3092\u4f7f\u3046\u610f\u7fa9\u306f\uff1f<\/span><\/p>\n
\u6a19\u6e96\u504f\u5dee\u3092\u4f7f\u3063\u3066\u53ce\u675f\u5224\u5b9a\u3092\u884c\u3046\u610f\u7fa9\u306f\u3001\u6e2c\u5b9a\u5024\u306e\u300c\u3070\u3089\u3064\u304d\u306e\u5927\u304d\u3055\u300d\u3092\u78ba\u8a8d\u3067\u304d\u308b\u70b9\u306b\u3042\u308a\u307e\u3059\u3002\u5177\u4f53\u7684\u306b\u306f\u6b21\u306e\u3088\u3046\u306a\u5229\u70b9\u304c\u3042\u308a\u307e\u3059\uff1a<\/p>\n
\u25a0\u5b89\u5b9a\u6027\u306e\u8a55\u4fa1
\n\u6e2c\u5b9a\u5024\u306e\u5e73\u5747\u5024\u306f\u3001\u5024\u304c\u53ce\u675f\u3057\u3066\u3044\u306a\u3044\u72b6\u614b\u3067\u3082\u4e00\u5b9a\u306e\u7bc4\u56f2\u306b\u53ce\u307e\u3063\u3066\u3057\u307e\u3046\u53ef\u80fd\u6027\u304c\u3042\u308a\u307e\u3059\u3002\u3057\u304b\u3057\u3001\u6e2c\u5b9a\u5024\u304c\u5b89\u5b9a\u3057\u3066\u3044\u306a\u3044\u5834\u5408\u306f\u3001\u3070\u3089\u3064\u304d\u304c\u5927\u304d\u304f\u3001\u6a19\u6e96\u504f\u5dee\u3082\u5927\u304d\u304f\u306a\u308a\u307e\u3059\u3002\u6a19\u6e96\u504f\u5dee\u3092\u7528\u3044\u308b\u3053\u3068\u3067\u3001\u6e2c\u5b9a\u5024\u304c\u72ed\u3044\u7bc4\u56f2\u5185\u306b\u53ce\u675f\u3057\u3066\u3044\u308b\u304b\uff08\u5b89\u5b9a\u3057\u3066\u3044\u308b\u304b\uff09\u3092\u78ba\u8a8d\u3067\u304d\u307e\u3059\u3002<\/p>\n
\u25a0\u5916\u308c\u5024\u306e\u5f71\u97ff\u3092\u6392\u9664
\n\u6e2c\u5b9a\u5024\u304c\u3070\u3089\u3064\u304f\u5834\u5408\u3084\u7a81\u767a\u7684\u306a\u5916\u308c\u5024\u304c\u767a\u751f\u3057\u305f\u5834\u5408\u3067\u3082\u3001\u6a19\u6e96\u504f\u5dee\u3092\u30c1\u30a7\u30c3\u30af\u3059\u308b\u3053\u3068\u3067\u5b89\u5b9a\u304b\u3069\u3046\u304b\u3092\u5224\u65ad\u3057\u3084\u3059\u304f\u306a\u308a\u307e\u3059\u3002\u5916\u308c\u5024\u304c\u5e73\u5747\u306b\u4e0e\u3048\u308b\u5f71\u97ff\u3092\u6291\u3048\u3064\u3064\u3001\u6e2c\u5b9a\u5024\u306e\u5909\u52d5\u304c\u5c0f\u3055\u3044\u304b\u3069\u3046\u304b\u3092\u5224\u5b9a\u3067\u304d\u307e\u3059\u3002<\/p>\n
\u25a0\u5b89\u5b9a\u72b6\u614b\u306e\u691c\u51fa
\n\u6a19\u6e96\u504f\u5dee\u304c\u5c0f\u3055\u3044\u3068\u3044\u3046\u3053\u3068\u306f\u3001\u9023\u7d9a\u3057\u305f\u6e2c\u5b9a\u5024\u304c\u975e\u5e38\u306b\u4f3c\u901a\u3063\u305f\u5024\u3067\u3042\u308a\u3001\u5bfe\u8c61\u7269\u3068\u306e\u8ddd\u96e2\u304c\u5b89\u5b9a\u3057\u3066\u3044\u308b\u3053\u3068\u3092\u610f\u5473\u3057\u307e\u3059\u3002\u3053\u306e\u305f\u3081\u3001\u6a19\u6e96\u504f\u5dee\u304c\u95be\u5024\uff08\u4f8b\u3048\u30700.5cm\uff09\u4ee5\u4e0b\u3067\u3042\u308c\u3070\u300c\u6e2c\u5b9a\u304c\u5b89\u5b9a\u3057\u305f\u300d\u3068\u5224\u65ad\u3067\u304d\u307e\u3059\u3002<\/p>\n
\u3053\u306e\u3088\u3046\u306b\u3001\u6a19\u6e96\u504f\u5dee\u3092\u4f7f\u3046\u3053\u3068\u3067\u3001\u6e2c\u5b9a\u30c7\u30fc\u30bf\u306e\u5b89\u5b9a\u6027\u3092\u6570\u5024\u3068\u3057\u3066\u8a55\u4fa1\u3067\u304d\u3001\u78ba\u5b9f\u306b\u53ce\u675f\u3057\u305f\u72b6\u614b\u3092\u78ba\u8a8d\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002<\/p>\n
Step 4 : \u5b9f\u6e2c\u5024\u3092\u57fa\u306b\u6821\u6b63\u5024\u3092\u6c7a\u5b9a\u3059\u308b\u3002<\/h2>\n
\u6e2c\u5b9a\u30b7\u30b9\u30c6\u30e0\u306e\u30ad\u30e3\u30ea\u30d6\u30ec\u30fc\u30b7\u30e7\u30f3\uff08Calibration\uff09\u3092\u4ee5\u4e0b\u306e\u624b\u9806\u3067\u9032\u3081\u308b\u3002
\n1) \u8ddd\u96e2\u3054\u3068\u306b\u6e2c\u5b9a\u3092\u5b9f\u65bd\u3057\u3001\u7406\u60f3\u5024\uff08I\uff09\u3068\u5b9f\u6e2c\u5024\uff08R\uff09\u306e\u5dee\uff08\u8aa4\u5dee E\uff09\u3092\u660e\u3089\u304b\u306b\u3059\u308b\u3002
\n2) \u6e2c\u5b9a\u5024\u3092\u30d7\u30ed\u30b0\u30e9\u30e0\u5185\u3067\u88dc\u6b63\u3057\u3001\u7406\u60f3\u5024\u306b\u8fd1\u3065\u3051\u308b\u3002<\/p>\n
\u25a0\u6e2c\u5b9a\u7d50\u679c\uff08Step 3 \u306e\u30d7\u30ed\u30b0\u30e9\u30e0\u3092\u4f7f\u7528\uff09<\/span><\/p>\n\n
\u7406\u60f3\u5024(I)<\/th>\u5b9f\u6e2c\u5024(R)<\/th>\u8aa4\u5dee(E)<\/th><\/tr>
10cm<\/td>9.6cm<\/td>-0.4cm<\/td><\/tr>
20cm<\/td>18.7cm<\/td>-1.3cm<\/td><\/tr>
30cm<\/td>28.2cm<\/td>-1.8cm<\/td><\/tr>
40cm<\/td>38.5cm<\/td>-1.5cm<\/td><\/tr>
50cm<\/td>48.0cm<\/td>-2.0cm<\/td><\/tr>\n<\/table>\n
\u25a0\u88dc\u6b63\u5f0f\u306e\u5c0e\u51fa<\/span><\/p>\n
\u3053\u306e\u95a2\u4fc2\u3092\u6b63\u78ba\u306b\u30e2\u30c7\u30eb\u5316\u3059\u308b\u306b\u306f\u56de\u5e30\u76f4\u7dda\u3092\u5c0e\u51fa\u3059\u308b\u5fc5\u8981\u304c\u3042\u308b\u304c\u3001\u3053\u3053\u3067\u306f\u8fd1\u4f3c\u7684\u306a\u88dc\u6b63\u5f0f\u3092\u5c0e\u51fa\u3059\u308b\u3002<\/p>\n
\u8aa4\u5dee E \u3092\u5206\u6790\u3059\u308b\u3068\u3001\u4ee5\u4e0b\u306e\u95a2\u4fc2\u5f0f\u3067\u8fd1\u4f3c\u3067\u304d\u308b\u3053\u3068\u304c\u308f\u304b\u308b\u3002
\nE = I x (-2\/50)\u3000\u2190\u2460<\/p>\n
R\u3068E\u306e\u95a2\u4fc2\u306f\u6b21\u306e\u5f0f\u3067\u8868\u3055\u308c\u308b\u3002
\nR = I + E
\nI = R – E\u3000\u2190\u2461<\/p>\n
\u5f0f\u2460\u306b\u2461\u3092\u4ee3\u5165\u3059\u308b\u3068\u3001
\nE = (R – E) x (-1\/25)
\n-25E = R – E
\n-24E = R
\nE = -R\/24\u3000\u2190\u2462<\/p>\n
\u5f0f\u2461, \u2462\u3088\u308a\u3001
\nI = R – (-R\/24)
\nI = 25R\/24<\/p>\n
\u3053\u306e\u88dc\u6b63\u5f0f\u306b\u3088\u308a\u3001\u6e2c\u5b9a\u5024 R\u304b\u3089\u7406\u60f3\u5024 I\u3092\u63a8\u5b9a\u3067\u304d\u308b\u3002
\n\u30d7\u30ed\u30b0\u30e9\u30e0\u5185\u3067\u3053\u306e\u88dc\u6b63\u3092\u5b9f\u88c5\u3057\u3001\u6e2c\u5b9a\u30b7\u30b9\u30c6\u30e0\u306e\u7cbe\u5ea6\u3092\u5411\u4e0a\u3055\u305b\u308b\u3002<\/p>\n
\r\n# Step 4 : \u6e2c\u5b9a\u7d50\u679c\u3092\u6821\u6b63\u3059\u308b\u3002\r\n \r\nimport gpiozero\r\nimport time\r\nimport sys\r\nimport numpy as np\r\n \r\n# \u30c8\u30ea\u30ac\u30fc\u30d4\u30f3\u3068\u30a8\u30b3\u30fc\u30d4\u30f3\u306e\u8a2d\u5b9a\r\ntrig_pin = 15  # GPIO 15\u756a\u30d4\u30f3\u306b\u30c8\u30ea\u30ac\u30fc\u30d4\u30f3\u3092\u8a2d\u5b9a\r\necho_pin = 14  # GPIO 14\u756a\u30d4\u30f3\u306b\u30a8\u30b3\u30fc\u30d4\u30f3\u3092\u8a2d\u5b9a\r\n \r\n# DistanceSensor \u30af\u30e9\u30b9\u306e\u30a4\u30f3\u30b9\u30bf\u30f3\u30b9\u3092\u4f5c\u6210\u3057\u3001\u30bb\u30f3\u30b5\u30fc\u3092\u521d\u671f\u5316\u3059\u308b\r\n# echo\u30d4\u30f3\u3068trigger\u30d4\u30f3\u306b\u6307\u5b9a\u3057\u305fGPIO\u30d4\u30f3\u3092\u63a5\u7d9a\u3057\u3001\u6700\u5927\u8ddd\u96e2\u30922\u30e1\u30fc\u30c8\u30eb\u306b\u8a2d\u5b9a\r\nsensor = gpiozero.DistanceSensor(echo=echo_pin, trigger=trig_pin, max_distance=2.0)  # max_distance\u306f\u30e1\u30fc\u30c8\u30eb\u5358\u4f4d\r\n \r\n# \u904e\u53bb10\u56de\u306e\u8ddd\u96e2\u6e2c\u5b9a\u5024\u3092\u683c\u7d0d\u3059\u308b\u30ea\u30b9\u30c8\u3092\u521d\u671f\u5316\r\ndistance_history = []\r\n \r\n# \u30e1\u30a4\u30f3\u51e6\u7406\u3092try\u30d6\u30ed\u30c3\u30af\u3067\u56f2\u307f\u3001\u30ad\u30fc\u30dc\u30fc\u30c9\u5272\u308a\u8fbc\u307f\u3092\u691c\u51fa\r\ntry:\r\n    while True:  # \u7121\u9650\u30eb\u30fc\u30d7\u3092\u958b\u59cb\u3057\u3001\u5e38\u306b\u8ddd\u96e2\u3092\u6e2c\u5b9a\u3059\u308b\r\n        distance = sensor.distance * 100  # \u30bb\u30f3\u30b5\u30fc\u306e\u6e2c\u5b9a\u5024\uff08\u30e1\u30fc\u30c8\u30eb\uff09\u3092\u30bb\u30f3\u30c1\u30e1\u30fc\u30c8\u30eb\u306b\u5909\u63db\r\n        print("Distance: {:.1f}cm".format(distance))  # \u5c0f\u6570\u70b91\u6841\u3067\u8ddd\u96e2\u3092\u8868\u793a\r\n \r\n        # \u6e2c\u5b9a\u7d50\u679c\u3092distance_history\u30ea\u30b9\u30c8\u306b\u8ffd\u52a0\r\n        distance_history.append(distance)\r\n        if len(distance_history) > 10:  # \u30ea\u30b9\u30c8\u304c10\u500b\u306e\u30c7\u30fc\u30bf\u3092\u8d85\u3048\u305f\u5834\u5408\u3001\u6700\u3082\u53e4\u3044\u30c7\u30fc\u30bf\u3092\u524a\u9664\r\n            distance_history.pop(0)\r\n \r\n        # \u30ea\u30b9\u30c8\u306b10\u500b\u306e\u30c7\u30fc\u30bf\u304c\u63c3\u3063\u305f\u3089\u53ce\u675f\u5224\u5b9a\u3092\u5b9f\u65bd\r\n        if len(distance_history) == 10:\r\n            std_dev = np.std(distance_history)  # \u904e\u53bb10\u56de\u306e\u6e2c\u5b9a\u7d50\u679c\u306e\u6a19\u6e96\u504f\u5dee\u3092\u8a08\u7b97\r\n            print("std_dev = {:.3f}".format(std_dev))  # \u6a19\u6e96\u504f\u5dee\u3092\u5c0f\u6570\u70b93\u6841\u3067\u8868\u793a\r\n            if std_dev < 0.5:  # \u6a19\u6e96\u504f\u5dee\u304c0.5\u672a\u6e80\u306e\u5834\u5408\u306f\u6e2c\u5b9a\u5024\u304c\u5b89\u5b9a\u3057\u305f\u3068\u5224\u65ad\r\n                avg_distance = np.mean(distance_history)  # \u904e\u53bb10\u56de\u306e\u6e2c\u5b9a\u5024\u306e\u5e73\u5747\u3092\u8a08\u7b97\r\n                corr_distance = avg_distance * 25 \/ 24;\r\n                print("Stable Distance Measurement: {:.1f}cm".format(corr_distance))  # \u5b89\u5b9a\u3057\u305f\u5e73\u5747\u5024\u3092\u8868\u793a\r\n                break  # \u30eb\u30fc\u30d7\u3092\u7d42\u4e86\r\n \r\n        time.sleep(0.2)  # \u6b21\u306e\u6e2c\u5b9a\u307e\u3067200\u30df\u30ea\u79d2\u5f85\u6a5f\uff08\u30bb\u30f3\u30b5\u30fc\u306e\u4ed5\u69d8\uff09\r\n \r\n# \u30ad\u30fc\u30dc\u30fc\u30c9\u3067\u306e\u4e2d\u65ad\uff08Ctrl+C\uff09\u306b\u5bfe\u5fdc\u3059\u308b\u51e6\u7406\r\nexcept KeyboardInterrupt:\r\n    print("\u30d7\u30ed\u30b0\u30e9\u30e0\u3092\u7d42\u4e86\u3057\u307e\u3059\u3002")  # \u4e2d\u65ad\u30e1\u30c3\u30bb\u30fc\u30b8\u3092\u8868\u793a\r\n    sys.exit()  # \u30d7\u30ed\u30b0\u30e9\u30e0\u3092\u7d42\u4e86\u3059\u308b\r\n<\/pre>\n
\n","protected":false},"excerpt":{"rendered":"
\u30101\u3011\u3084\u308a\u305f\u3044\u3053\u3068 \u8d85\u97f3\u6ce2\u8ddd\u96e2\u30bb\u30f3\u30b5\u30fc HC-SR04 \u3092\u4f7f\u3044\u3001\u8eab\u8fd1\u306a\u7269\u3068\u306e\u9593\u306e\u8ddd\u96e2\u3092\u6e2c\u5b9a\u3057\u3066\u307f\u305f\u3044\u3002 https:\/\/akizukidenshi.com\/catalog\/g\/g111009\/ \u3082\u3057\u3001\u8aa4\u5dee\u91cf\u304c\u5c0f\u3055\u3051\u308c\u3070\u3001\u2026 \u7d9a\u304d\u3092\u8aad\u3080 »<\/a><\/span><\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[18,38],"tags":[],"class_list":["post-3193","post","type-post","status-publish","format-standard","hentry","category-raspberry-pi","category-38"],"views":1008,"amp_enabled":true,"_links":{"self":[{"href":"https:\/\/www.dogrow.net\/elecronics\/wp-json\/wp\/v2\/posts\/3193","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.dogrow.net\/elecronics\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.dogrow.net\/elecronics\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.dogrow.net\/elecronics\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/www.dogrow.net\/elecronics\/wp-json\/wp\/v2\/comments?post=3193"}],"version-history":[{"count":44,"href":"https:\/\/www.dogrow.net\/elecronics\/wp-json\/wp\/v2\/posts\/3193\/revisions"}],"predecessor-version":[{"id":3437,"href":"https:\/\/www.dogrow.net\/elecronics\/wp-json\/wp\/v2\/posts\/3193\/revisions\/3437"}],"wp:attachment":[{"href":"https:\/\/www.dogrow.net\/elecronics\/wp-json\/wp\/v2\/media?parent=3193"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.dogrow.net\/elecronics\/wp-json\/wp\/v2\/categories?post=3193"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.dogrow.net\/elecronics\/wp-json\/wp\/v2\/tags?post=3193"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}