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Lecture 4

Robotic sensors can be categorized as tactile, time-of-flight, compasses, and miscellaneous. Tactile sensors detect contact and include switches, while time-of-flight sensors measure distance using ultrasonic, laser, or infrared signals. Compasses provide heading using mechanical, fluxgate or hall-effect components. Miscellaneous sensors provide additional environmental data through gyroscopes, motion detection, smoke detection, pressure, temperature, line tracking and video. The document discusses several sensor types in detail including infrared, ultrasonic, and compass sensors.

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Vivek Chikkala
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58 views

Lecture 4

Robotic sensors can be categorized as tactile, time-of-flight, compasses, and miscellaneous. Tactile sensors detect contact and include switches, while time-of-flight sensors measure distance using ultrasonic, laser, or infrared signals. Compasses provide heading using mechanical, fluxgate or hall-effect components. Miscellaneous sensors provide additional environmental data through gyroscopes, motion detection, smoke detection, pressure, temperature, line tracking and video. The document discusses several sensor types in detail including infrared, ultrasonic, and compass sensors.

Uploaded by

Vivek Chikkala
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Robotic Sensors

Mini-Enrichment Course
Robotics: Intelligent Connection of
the Perception to Action
Rami Abielmona
SMRLab – Spring 2004
Different Types
z Tactile Sensors Used to tell us if we hit something
– Magnetic
– Ultrasonic
– Microwave
– Optical
z Time of Flight Sensors Used to tell us how far objects are from us
– Ultrasonic
– Laser-Based
z Compasses Used to tell us our heading (angle from North)
– Mechanical
– Fluxgate
– Hall-Effect
z Miscellaneous Used to tell us things about our environment
– Gyroscopes
– Motion Detection
– Smoke
– Pressure
– Temperature
Tactile Sensors

z Mainly used for collision detection

z If the switch connects, electricity passes and we can detect


a “hit”
z Different from Proximity (Non-contact) Sensors
– These are used to detect near-collisions
– More complex internals
Tactile Sensors (2)

Switch Open

Switch Closed
The EM Spectrum
The Light Spectrum
Time of Flight Sensors
z Procedure is quite simple
1. Send a signal and start a timer (t1 = 0 sec)
2. Wait for echo signal, and stop timer (t2 = 12 sec)
3. Calculate difference (t1 – t2 = 12 sec)
4. Use time difference to calculate distance (distance =
speed * time)
z Different signals have different speeds
– Sound travels at 1 ft/ms
– Light travels at 1 ft/ns (Faster than light)
IR Sensors

z Works on Infra-Red light (invisible to humans)


z Measures the time it takes for light to go and come
back
z Works at about 15 degrees away from the robot
IR Sensors (2)
IR Sensors (3)

Simple Configuration

Tank-Style Configuration
Sound (Ultrasonic) Sensors

z Very similar to the light sensor, but works by


sending sound waves instead!
z We can’t hear the sound waves, but they bounce
off the target and come back to the sensor
z We measure the distance in the same manner as
we do it for light
Compasses
z Compass sensors can tell us our heading
– Either by N, E, W and S
– Or by the angle from 0°
Compasses (2)
Other Sensors

z Gyroscope

z Motion Detection

z Smoke

z Pressure
Other Sensors (2)

z Temperature

z Line Tracking

z Video
References
z http://www.intersema.com/site/technical/ms5534.
php
z http://www.acroname.com
z http://www.robotstorehk.com/sensor.html
z http://www.hvwtech.com
z http://www.site.uottawa.ca/~rabielmo/elg4392b
z http://www.lynxmotion.com
z http://www-2.cs.cmu.edu/~cmucam/

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