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Lec5 Robot Sensors

Robot sensors allow robots to interact with their environment in a flexible and intelligent manner by providing information about the position and objects in the environment. Sensors provide continuous feedback that is integral to robot control systems. Common robot sensors include switch sensors, optical sensors like photocells, and shaft encoders that can detect position and velocity through digital signals.

Uploaded by

Isuru Pasan Dasanayake
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© Attribution Non-Commercial (BY-NC)
Available Formats
Download as PDF, TXT or read online on Scribd
81 views

Lec5 Robot Sensors

Robot sensors allow robots to interact with their environment in a flexible and intelligent manner by providing information about the position and objects in the environment. Sensors provide continuous feedback that is integral to robot control systems. Common robot sensors include switch sensors, optical sensors like photocells, and shaft encoders that can detect position and velocity through digital signals.

Uploaded by

Isuru Pasan Dasanayake
Copyright
© Attribution Non-Commercial (BY-NC)
Available Formats
Download as PDF, TXT or read online on Scribd
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Robot Sensors

• Allow a robot to interact with its environment in a


flexible, and intelligent manner

Robot Sensors • A robot that can see and feel is much easier to
train and deploy to perform complex tasks

• Provide position and velocity of wheels as a


continuous stream of feedback signals that
possess an integral part of the control loop
Dr. Rohan Munasinghe
BSc, MSc, PhD, MIEEE
Department of Electronic and Telecommunication Engineering
Faculty of Engineering • Provide information about the environment and
University of Moratuwa 10400
the objects therein

Sensor Characteristics Switch Sensor


• Dynamic range • Indicates whether or not a contact has been made, while
– Minimum and maximum values of the input signal for which disregarding the magnitude of the contact force
the sensor responds
– Micro switches, limit switches
• Response Ω
47kΩ
+5V
– Sensor should respond to the stimuli almost instantaneously signal
• Sensitivity 0V GND
– The change in sensor output for a unit change in input
• Linearity
– Whether the sensor maintains same sensitivity within the
entire dynamic range
5V:not pressed (“false”) Ω
47kΩ
+5V
0V:pressed (“true”)
signal
• Other considerations 5V GND
– Sensor should not disturb the physical quantity it measures Ω
47kΩ

– Sensor should be suitable for the environment it is exposed


– Sensor should be isolated from noise, and protected from
physical damages
– Size, cost, and ease of operation
Applications of Switch Sensors Optosensors
• Passive Sensors
• Collision detection and ground detection
– Photocell (LDR): street light trigger
– Slow response
Ω in the dark (open cct), and 10Ω
– 10kΩ Ω(short cct) in bright light
• Used in potential divider configuration
• Light (photons) transfer energy to bound electrons
• Responsiveness to a wide range of frequencies
– IR, visible, UV

Optosensors cntd.. Interfacing a Photocell


• Active sensors Potential divider
– Emitter : Infra red LED
– Detector : Photodiode (faster), or Phototransistor (sensitive)
– Performance Robot
• fast response, low light levels, wavelength match Control
– Two kinds of active Optosensors board
• Reflective: light is reflected off a surface onto the detector
– Used for proximity sensing
• Break beam: light is shined directly onto the detector, and is 5V Gnd 7 Analog inputs
obstructed by an opaque object Light Baffling
– Used for shaft encoding (with a slotted wheel)
Interfacing Active Optosensors Properties of Optosensors
• Emitter testing
– IR is invisible
– use IR detector card, camcoder, or camera phone to check
OFF 5V whether IR emitter works
ON 0V
• IR filter
– Semiconductor junction is most efficient in infra-red
wavelengths. Detector is usually attached with a filter, which
allows infra-red to pass through while blocking ambient light
interference

• Adjust pull-up resister • Correction for ambient light


Light falls on ⇒ detector current ↑ ⇒ voltage across pull-up – Switch emitter ON and OFF and get the difference of the two
resister ↑⇒ analog reading ↓ readings
– Use different pull-up resisters to improve response – Reduce power consumption too
• Emitter brightness control
Ω ⇒ 10mA. Check whether it is bright enough.
– 5V through 500Ω

Break-Beam Sensor Reflective Optosensor


• Digital IR Sensors • Digital IR Sensors
– Whether you see through the slot – Whether you are in very close proximity of an obstacle

5V (logic 1) on black
0V (logic 0) on white
Absolute Encoder Qudrature Shaft Encoder (two tracks)
Resolution = 360 / 2 n
1800
n = number of bits
Shaft
position
This track and
sensor Is missing
In figure
inner outer wheel motion
Eg. 110010
= 3×360/26
= 6.875°

time time

Phase ⇒Direction of motion


Pulse count (and derivative) ⇒ position (and velocity)

Qudrature Shaft Encoder (one track) IR Distance Measuring Sensors


• Measures distance to obstacle
Encoder A Encoder B

1 0

counter
clockwise -1 +1 clockwise

Counter clockwise motion


A

clockwise counter
clockwise
IR Distance Measuring Sensor IR Distance Measuring Sensor
• Use reception intensity as a measure of distance
• SHARP GP2D12 : Distance output type (10cm~80cm) Timing
Diagram
• SHARP GP2D12 : Distance judgment type (24cm)

Reflectivity Illumination

Sensing High Speeds Sensing Low Speeds

3
ω≈
T
or
4
ω≈
T + δT
Ultrasonic Range Sensor Sonar Sensor Interface
Internal resonances takes Pin
• 3cm ~4m, 40~60kHz Configuration
2.38ms to decay out.
• Emits ultrasonic ping and listen to the echo Echoes can be detected
time of flight × 0.5 × sound speed = distance to obstacle after this interval (min
distance limit)
• Problems
– Wide field of reception: where is the obstacle exactly?? At a distance, echo
– False echoes: ground reflection, etc.. becomes too weak to be
– Not very accurate: sound speed changes on temperature and humidity detected (max distance)

Timing Diagram
Mode 1 (two pin)

Sonar Sensor Beam width Robots with Ultrasonic Sensors


• Real-time Collision Avoidance

As frequency increase attenuation increases and beam width reduces


Beam width shouldn’t be too wide to hear false echoes. It shouldn’t be too
narrow to miss a legitimate obstacle
Narrow beam width sensors are used atop a scanning (servo) mechanisms

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