robotic sensors ppt
Post on 26-Feb-2018
228 Views
Preview:
TRANSCRIPT
-
7/25/2019 Robotic Sensors PPT
1/30
A Seminar OnA Seminar OnRobotic SensorsRobotic Sensors
By: MANOHAR SINGHBy: MANOHAR SINGH12EI1912EI19
-
7/25/2019 Robotic Sensors PPT
2/30
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
-
7/25/2019 Robotic Sensors PPT
3/30
What makes a machine a Robot?What makes a machine a Robot?
where should I dig?
where
is thetruck?
Sensing Planning Acting
informationabout theenvironment
actionon the
environment
-
7/25/2019 Robotic Sensors PPT
4/30
What Is A Robot???
RobotsMachines with sensing, intelligence andmobility
To be qualified as a robot, a machine shouldhave the following capabilities:
Sensing and perception: get information
about itself and its surroundingsCarry out different tasks
Re-programmable: can do different things
Function autonomously or interact with
human beings
-
7/25/2019 Robotic Sensors PPT
5/30
Why Use Robots???
Application in 4D environmentsDangerous
Dirty
Dull
Difficult
4A tasksAutomation
Augmentation
Assistance
Autonomous
-
7/25/2019 Robotic Sensors PPT
6/30
Types of Robots
Underwater robotHumanoid robot Aerial robot
Legged robot
ManipulatorWheeled
Mobile Robot
(WMR)
-
7/25/2019 Robotic Sensors PPT
7/30
What is Sensing ?
Collect information about the world.
Sensor - an electrical/mechanical/chemicaldevice thatmaps an environmental attribute
to a quantitative measurement.
Each sensor is based on atransduction
principle-conversion of energy from one form
to another.
Also known astransducers.
-
7/25/2019 Robotic Sensors PPT
8/30
Why To Use Sensors???
Vision outside the RGB spectrumInfrared Camera, see at night
Active vision
Radar and optical (laser) range measurementHearing outside the 20 Hz 20 kHzrange
Ultrasonic range measurement
Chemical analysis beyond taste andsmell
Radiation: a, b, g-rays, neutrons, etc
-
7/25/2019 Robotic Sensors PPT
9/30
Why do robots need sensors?
?
internal information
What is the angle of my arm?
-
7/25/2019 Robotic Sensors PPT
10/30
Where am I?
localization
-
7/25/2019 Robotic Sensors PPT
11/30
Will I hit anything?
obstacle detection
-
7/25/2019 Robotic Sensors PPT
12/30
Provides awareness of surroundings
Whats ahead, around, out there?
Allows interaction with environmentRobot lawn mower can see cut grass
Protection & Self-PreservationSafety, Damage Prevention, Stairwell sensor
Gives the robot capability to goal-seekFind colorful objects, seek goals
Makes robots interesting
Why Do Robots Need Sensors?
-
7/25/2019 Robotic Sensors PPT
13/30
13 Solar Cell
Digital Infrared Ranging
Compass
Touch Switch
Pressure Switch
Limit Switch
agnetic Reed Switch
agnetic Sensor
iniature Polaroid Sensor
Polaroid Sensor !oard
Pie"o #ltrasonic Transducers
P$roelectric Detector
Th$ristor
%as Sensor
%ieger&uller
Radiation Sensor
Pie"o !end Sensor
Resisti'e !end Sensors
echanical Tilt Sensors
Pendulum Resisti'e
Tilt Sensors
CDS Cell
Resisti'e Light Sensor
(all )ffect
agnetic *ield
Sensors
Compass
IRDA Transcei'er
IR Amplifier Sensor
IR odulator
Recei'erLite&+n IR
Remote Recei'er
Radio Shac,
Remote Recei'er
IR Sensor w-lens
%$roAccelerometer
IR Reflection
Sensor
IR Pin
Diode
#. Detector
etal Detector
-
7/25/2019 Robotic Sensors PPT
14/30
14
ClassificationofSensors
Proprioception (Internal state) v.s.Exteroceptive (external state)measure values internally to the system (robot),e.g. battery level, wheel position, joint angle, etc,
observation of environments, objects
Active v.s. Passiveemitting energy into the environment, e.g.,radar, sonar
passively receive energy to make observation,e.g., camera
Contact v.s. non-contactVisual v.s. non-visualvision-based sensing, image processing, videocamera
-
7/25/2019 Robotic Sensors PPT
15/30
Tactile Sensors
There are many different technologies e.g.contact closure, magnetic, piezoelectric, etc. For mobile robots these can be classified as
tactile feelers (antennae) tactile bumpers Pressure-sensitive rubber with scanning array
-
7/25/2019 Robotic Sensors PPT
16/30
WhiskersPiano wire suspended through conductivehoop
Deflection causes contact with hoop
Springy wire that touches studs when deflectedReaches beyond robot a few inchesSimple, cheap, binary output
Bumpers & GuardsImpact/Collision sensor, sensespressure/contact
Microswitches & wires or framework that moves
Simple, cheap, binary output, easy to read
Tactile Sensors(Feelers)
-
7/25/2019 Robotic Sensors PPT
17/30
Feelers - Whiskers
-
7/25/2019 Robotic Sensors PPT
18/30
Feelers - Bumpers & Guards
-
7/25/2019 Robotic Sensors PPT
19/30
Bend Sensors
Resistance = 10k to 35kAs the strip is bent, resistanceincreases
PotentiometersCan be used as position sensors forsliding mechanisms or rotating shafts Easy to find, easy to mount
Light Sensor (Photocell)Good for detectingdirection/presence of light Non-linear resistance
Slow response to light changes
Resistive Sensors
Resistive end !ensor
"hoto#ell
"otentiometer
R is small when brightl$
illuminated
-
7/25/2019 Robotic Sensors PPT
20/30
!ensor
Measure bend of ajoint
WallFollowing/Collision
Detection
Weight Sensor
!ensors
!ensor
Applications
-
7/25/2019 Robotic Sensors PPT
21/30
Sensors IR
Active (emitting)Oscillator generates IR reflections off objectsFiltered receiver looks for reflectionsPulses may be encoded for better discrimination
Typically frequencies around 40KHzDoesnt work well with dark, flat colored objects
Passive (sensor only)
Pyro-electric (heat sensor)Look for IR emissions from people & animalsUsed in security systems & motion detectors
-
7/25/2019 Robotic Sensors PPT
22/30
Infrared - Active
Works at about 15degrees away from therobot
-
7/25/2019 Robotic Sensors PPT
23/30
Sensors Ultrasonic
ActiveEmit pulses & listen for echosTimes round trip sound travel (~1ft/mS)Reaches far fairly beyond robot (inches to 30-50)
Relatively simple, not cheap, analog outputDirectional; not everything reflects sound well
Passive (listens only)
Sensor listens for ultrasonic sounds
Electronics may translate frequency ormodulation
Software may perform signal analysis (FFTs, etc.)
-
7/25/2019 Robotic Sensors PPT
24/30
Ultrasonic - Active
-
7/25/2019 Robotic Sensors PPT
25/30
Sensors Ultrasonic (cont.)
Passive - Beacons & SensorsBeacons listen: RF command to broadcast
Send light & sound pulsesRobot looks & listens for each beaconLight pulse starts timer, sound pulse stops it
Robot knows location of each beaconCompass on robot provides its orientation
Robot computes distance, measures bearing
Robot can then compute its location
(Speed of Light=1 ft/nS, Speed ofSound=1ft/mS)
-
7/25/2019 Robotic Sensors PPT
26/30
Ultrasonic - Passive
ea#on1
ea#on%
!ound
"ulse
!ound
"ulse
Robot
Light
"ulse
BEA!"
R& Re#eiver
'R mitter
Ultrasoni#
mitter
ea#on3
Light
"ulse
!ound
"ulse
#!B!$
R& ransmitter
'R Re#eiver
Ultrasoni#
Re#eiver
Light"ulse
-
7/25/2019 Robotic Sensors PPT
27/30
Conclusion
Sensors provide a way of simulating aliveness
Sensors give robots environmental awareness
Sensors provide of means of human protection
Sensors help robot preserve itself
Sensors enable goal seeking
Sensors enable closed-loop interaction
Sensors make robots interestingSensors can make programming challenging
-
7/25/2019 Robotic Sensors PPT
28/30
References
* www+a#roname+#om ,a##essed on -./-0/1.
* www+google+#o+in ,a##essed on -./-0/1.
* www+l$n2motion+#om ,a##essed on -./-0/1.* www+drrobot+#om,a##essed on -./-0/1.
* www+robotstoreh+#om/sensor+html,a##essed on
-./-0/1.
http://www.google.co.in/http://www.lynxmotion.com/http://www.drrobot.com/http://www.drrobot.com/http://www.robotstorehk.com/sensor.htmlhttp://www.robotstorehk.com/sensor.htmlhttp://www.drrobot.com/http://www.drrobot.com/http://www.lynxmotion.com/http://www.google.co.in/ -
7/25/2019 Robotic Sensors PPT
29/30
-
7/25/2019 Robotic Sensors PPT
30/30
QUERIES
top related