introduce about sensor using in robot nao department: fti-fho-fpt presenter: vu hoang dung

Introduce about sensor using in Robot NAO

Department: FTI-FHO-FPT

Presenter: Vu Hoang Dung

OUTLINE

Introduce Sensors1

Audio2

Vision3

Other Sensors4

Introduce Sensors Sensor is a converter that measures a physical quantity and converts

it into a signal which can be read by an observer or by an instrument. A sensor’s sensitivity indicates how much the sensor’s output changes when the measured quantity changes.

Senses of the NAO, the physical devices in robots that sense the environment are called sensor.

NAO sensors can divide into 3 types main sensors: Audio: include devices which listen to sound and play to sound

from microphone.(Example TTS and STT) Vision: include devices which capture image from camera.

(Example Face detect, Hand detect, Line detect …) Other sensor: include devices which get value from environment.

(Example touch sensor, battery sensor, infrared sensor, laser sensor, sonar sensor).

Introduce Sensors

Audio

Audio NAO has 4 microphones built into its head that it uses to listen to sound around it

Module in Audio

Audio Device: manage audio inputs and outputs Audio Player: play audio file on the robot Audio Recorder: record audio file on the robot Sound Detection: detect sound events Audio Source Localization: localize sounds detected Speech Recognition: make the robot understand what a human says Text To Speech: make the robot speak

Audio

Example

Sound detection and source localization

Value return:• Number of sounds detected• Index of the sound start(=1), sound

end(= 0)• Detection time• Gives an estimate of the probability[0,1]

that the sound detected by the module corresponds to a real sound

Vision

Vision NAO has two cameras in its head. The cameras are vision sensors andprovide camera images for the NAO’s computer to process. This is differentfrom the human “sensor of sight” as sight would include processing the imageTo understand what the robot sees

Vision

Module in Vision Backlighting: enables to check if the image of the camera is backlit. Darkness: gives NAO the ability to detect if it is in a dark environment. Face detection: gives NAO the ability to detect and recognize human faces. Landmark detection: gives NAO the ability to detect specific visual landmarks. Movement detection: gives NAO the ability to detect some movement and tell

where it comes from. Photo capture: provides tools to take pictures and save them on disk. Red ball detection: gives NAO the ability to detect red and circular objects. Video device: manages video inputs. Video recorder: provides video recording tools. Vision recognition: provides learning and recognition capabilities of visual

patterns. Visual compass: gives NAO the ability to use an image as a compass. Beside: Hand detection, line detection, flashcard….

Vision

Example

Landmark detection: use to get position of NAO with environment around

Value return:• Landmark ID• Landmark’s location in

camera angles• The Landmark’s size in

camera angles• Landmark’s is oriented

about the vertical axis with NAO’s head

Vision

Example

Red ball detection:

Value return:• CenterX, centerY are

center of the ball in angles

• SizeX, sizeY are the ball “horizontal and vertical radius”

• Position of the camera in Torso frame

• Position of the camera in robot frame

Other Sensors

Besides above sensors, NAO also uses other sensors as touch, press, balance for robot, measure level power in robot

Sensors: deals with bumpers, tactile hands, tactile head and press chest button. Battery: manage level power and warn the user Fsr: generates the event whenever the foot contact changes Infrared: allows IR communication with NAO Laser: retrieve data sent by the Laser head(optional device) Sonar: retrieves ultrasonic sensor.

Module in other Sensors

Other Sensors

Example

Sensor: get value follow bumper, tactile, chest button

Bumper• Left bumper• Right bumper

Tactile head• Front• Back• Rear

Tactile hand• Back• Left• Right

Chest button• Simple click• Double click• Triple click

Other Sensors

Example

Sonar: 2 emitters, 2 receives

Mode operation

• Frequency: 40kHz• Sensitivity: -86dB• Resolution: 1cm• Detection range: 0.25 – 2.55• Effective cone: 60o

Other Sensors

Example

Event sensor :

• Sonar Left Detected• Sonar Right Detected• Sonar Left Nothing Detected• Sonar Right Nothing Detected• Sonar Left Nothing Detected and

Sonar Right Nothing Detected

Other Sensors

Example

IR:

Use case• Use NAO as a remote

control• Set NAO to receive

orders from a remote control

• Make several NAOs communicate together

Other Sensors

Example

Led Sensor : allows you to control NAO’s LEDs

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