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Robotic Sensors
Robotic Sensors
Robotic Sensors
By: MANOHAR SINGH
12EI19
Contents
What is a Robot?
What are Sensors?
Why do Robots Need Sensors?
Classification of Sensors
What Sensors are Out There?
What can They do?
Conclusions
References
Sensing
information
about the
environment
where
is the
truck?
Planning
Acting
action
on the
environment
What Is A Robot???
Robots
Machines with sensing, intelligence and
mobility
To be qualified as a robot, a machine should
have the following capabilities:
Sensing and perception: get information
about itself and its surroundings
Carry out different tasks
Re-programmable: can do different things
Function autonomously or interact with
human beings
Dangerous
Dirty
Dull
Difficult
4A tasks
Automation
Augmentation
Assistance
Autonomous
Types of Robots
Manipulator
Humanoid robot
Wheeled
Mobile Robot
(WMR)
Aerial robot
Legged robot
Underwater robot
What is Sensing ?
Collect information about the world.
Sensor - an electrical/mechanical/chemical
device that maps an environmental attribute
to a quantitative measurement.
Each sensor is based on a transduction
principle - conversion of energy from one form
to another.
Also known as transducers.
Active vision
Radar and optical (laser) range measurement
internal information
Where am I?
localization
obstacle detection
Gas Sensor
Gyro
Accelerometer
Pendulum Resistive
Tilt Sensors
Metal Detector
Piezo Bend Sensor
Gieger-Muller
Radiation Sensor
Pyroelectric Detector
UV Detector
CDS Cell
Resistive Light Sensor
Pressure Switch
Miniature Polaroid Sensor
Limit Switch
Touch Switch
Mechanical Tilt Sensors
IR Pin
Diode
IR Sensor w/lens
Thyristor
IR Reflection
Sensor
Magnetic Sensor
IR Amplifier Sensor
Hall Effect
Magnetic Field
Sensors
IRDA Transceiver
13
Lite-On IR
Remote Receiver
Radio Shack
Remote Receiver
IR Modulator
Receiver
Solar Cell
Compass
Compass
Classification of Sensors
Proprioception (Internal state) v.s.
Exteroceptive (external state)
14
Tactile Sensors
There are many different technologies
e.g.contact closure, magnetic, piezoelectric, etc.
For mobile robots these can be classified as
tactile feelers (antennae)
tactile bumpers
Pressure-sensitive rubber with scanning array
Tactile Sensors(Feelers)
Whiskers
Piano wire suspended through conductive
hoop
Deflection causes contact with hoop
Springy wire that touches studs when deflected
Reaches beyond robot a few inches
Simple, cheap, binary output
Bumpers & Guards
Impact/Collision sensor, senses
pressure/contact
Microswitches & wires or framework that moves
Simple, cheap, binary output, easy to read
Feelers - Whiskers
Resistive Sensors
Bend Sensors
Resistance = 10k to 35k
As the strip is bent, resistance
increases
Potentiometers
Can be used as position sensors for
direction/presence of light
Non-linear resistance
Slow response to light changes
Potentiometer
Photocell
R is small when brightly
illuminated
Applications
Sensor
Measure bend of a
joint
Sensors
Wall
Following/Collision
Detection
Weight Sensor
Sensor
Sensors IR
Active (emitting)
Oscillator generates IR reflections off objects
Filtered receiver looks for reflections
Pulses may be encoded for better discrimination
Typically frequencies around 40KHz
Doesnt work well with dark, flat colored objects
Passive (sensor only)
Pyro-electric (heat sensor)
Look for IR emissions from people & animals
Used in security systems & motion detectors
Infrared - Active
Works at about 15
degrees away from the
robot
Sensors Ultrasonic
Active
Emit pulses & listen for echos
Times round trip sound travel (~1ft/mS)
Reaches far fairly beyond robot (inches to 30-50)
Relatively simple, not cheap, analog output
Directional; not everything reflects sound well
Passive (listens only)
Sensor listens for ultrasonic sounds
Electronics may translate frequency or
modulation
Software may perform signal analysis (FFTs, etc.)
Ultrasonic - Active
Ultrasonic - Passive
Beacon3
Beacon1
Sound
Pulse
Light
Pulse
Sound
Pulse Light
Pulse
Robot
BEACON
ROBOT
RF Receiver
RF Transmitter
IR Emitter
IR Receiver
Ultrasonic
Emitter
Ultrasonic
Receiver
Sound
Light Pulse
Pulse
Beacon2
Conclusion
Sensors
Sensors
Sensors
Sensors
Sensors
Sensors
Sensors
Sensors
References
QUERIES?