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Sensor Definitions

The document defines and provides examples of various sensors used in robotics, including temperature, voltage, current, distance, position, force, pressure, humidity, light, pH, contact, sound, and infrared sensors. Temperature sensors provide a voltage difference for temperature changes. Common types include the LM34, LM35, TMP35, TMP36, and TMP37. Distance can be measured using ultrasonic, infrared, and laser sensors. Position can be sensed with GPS, compasses, and localization using beacons. Force sensors measure static gravitational force and dynamic acceleration. Pressure sensors measure tactile pressure and grip. Contact sensors require physical touch to trigger. Sound sensors return a voltage based on sound level. Infrared

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77 views

Sensor Definitions

The document defines and provides examples of various sensors used in robotics, including temperature, voltage, current, distance, position, force, pressure, humidity, light, pH, contact, sound, and infrared sensors. Temperature sensors provide a voltage difference for temperature changes. Common types include the LM34, LM35, TMP35, TMP36, and TMP37. Distance can be measured using ultrasonic, infrared, and laser sensors. Position can be sensed with GPS, compasses, and localization using beacons. Force sensors measure static gravitational force and dynamic acceleration. Pressure sensors measure tactile pressure and grip. Contact sensors require physical touch to trigger. Sound sensors return a voltage based on sound level. Infrared

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Define the following sensors:

Temperature
Tiny temperature sensor ICs provide voltage difference for a
change in temperature. Few generally used temperature sensor
ICs are LM34, LM35, TMP35, TMP36, and TMP37.
Voltage
Voltage sensors typically convert lower voltages to higher
voltages, or vice versa. One example is a general OperationalAmplifier (Op-Amp) which accepts a low voltage, amplifies it, and
generates a higher voltage output. Few voltage sensors are used
to find the potential difference between two ends (Voltage
Comparator). Even a simple LED can act as a voltage sensor
which can detect a voltage difference and light up. (Not
considering current requirements here)
Current
Current sensors are electronic circuits which monitor the
current flow in a circuit and output either a proportional voltage or
a current. Most current sensors output an analog voltage between
0V to 5V which can be processed further using a microcontroller.
Distance
Most proximity sensors can also be used as distance sensors,
or commonly known as Range Sensors; IR transceivers and
Ultrasonic Sensors are best suited for distance measurement
Ultrasonic Distance Sensors: The sensor emits an ultrasonic
pulse and is captured by a receiver. Since the speed of sound is
almost constant in air, which is 344m/s, the time between send
and receive is calculated to give the distance between your robot
and the obstacle. Ultrasonic distance sensors are especially useful
for underwater robots.
Infrared Distance sensor: IR circuits are designed on
triangulation principle for distance measurement. A transmitter

sends a pulse of IR signals which is detected by the receiver if


there is an obstacle and based on the angle the signal is received,
distance is calculated. SHARP has a family of IR transceivers
which are very useful for distance measurement. A simple
transmit and receive using a couple of transmitters and receivers
will still do the job of distance measurement, but if you require
precision, then prefer the triangulation method
Laser range Sensor: Laser light is transmitted and the
reflected light is captured and analyzed. Distance is measured by
calculating the speed of light and time taken for the light to
reflect back to the receiver. These sensors are very useful for
longer distances.
Encoders: These sensors (not actually sensors, but a
combination of different components) convert angular position of
a shaft or wheel into an analog or digital code. The most popular
encoder is an optical encoder which includes a rotational disk,
light source and a light detector (generally an IR transmitter and
IR receiver). The rotational disk has transparent and opaque
pattern (or just black and white pattern) painted or printed over it.
When the disk rotates along with the wheel the emitted light is
interrupted generating a signal output. The number of times the
interruption happens and the diameter of the wheel can together
give the distance travelled by the robot.
Stereo Camera: Two cameras placed adjacent to each other
can provide depth information using its stereo vision. Processing
the data received from a camera is difficult for a robot with
minimal processing power and memory. If opted for, they make a
valuable addition to your robot.
Position
Positioning sensors are used to approximate the position of
a robot, some for indoor positioning and few others for outdoor
positioning.

GPS (Global Positioning System): The most commonly used


positioning sensor is a GPS. Satellites orbiting our earth transmit
signals and a receiver on a robot acquires these signals and
processes it. The processed information can be used to determine
the approximate position and velocity of a robot. These GPS
systems are extremely helpful for outdoor robots, but fail indoors.
They are also bit expensive at the moment and if their prices fall,
very soon you would see most robots with a GPS module
attached.
Digital Magnetic Compass: Similar to a handheld magnetic
compass, Digital Magnetic compass provides directional
measurements using the earths magnetic field which guides your
robot in the right direction to reach its destination. These sensors
are cheap compared to GPS modules, but a compass works best
along with a GPS module if you require both positional feedback
and navigation. Philips KMZ51 is sensitive enough to detect
earths magnetic field.
Localization: Localization refers to the task of automatically
determining the location of a robot in complex environment.
Localization is based on external elements called landmarks
which can be either artificially placed landmarks, or natural
landmark. In the first approach, artificial landmarks or beacons
are placed around the robot, and a robots sensor captures these
signals to determine its exact location. Natural landmarks can be
doors, windows, walls, etc. which are sensed by a robots sensor /
vision system (Camera). Localization can be achieved using
beacons which generate Wi-Fi, Bluetooth, Ultrasound, Infrared,
Radio transmissions, Visible Light, or any similar signal.
Force
Static Force: Static force is the frictional force between any two
objects. For example earths gravitational force is static which

pulls an object towards it. Measuring this gravitational force can


tell you how much your robot is tilting. This measurement is
exceptionally useful in a balancing robot, or to tell you if your
robot is driving uphill or on a flat surface.
Dynamic force: Dynamic force is the amount of acceleration
required to move an object. Measuring this dynamic force using
an accelerometer tells you the velocity/speed at which your robot
is moving. We can also measure vibration of a robot using an
accelerometer, if in any case you need to.

Pressure
As the name suggests, pressure sensor measures pressure.
Tactile pressure sensors are useful in robotics as they are
sensitive to touch, force and pressure. If you design a robot hand
and need to measure the amount of grip and pressure required to
hold an object, then this is what you would want to use.
Humidity
Humidity Sensors measures Humidity
Light
Switches measure physical contact and light sensors
measure the amount of light impacting a photocell, which is
basically a resistive sensor. The resistance of a photocell is low
when it is brightly illuminated, i.e., when it is very light; it is high
when it is dark. In that sense, a light sensor is really a "dark"
sensor.
PH

A pH Meter is a device used for potentiometrically measuring


the pH, which is either the concentration or the activity of
hydrogen ions, of an aqueous solution. It usually has a glass
electrode plus a calomel reference electrode, or a combination
electrode.
Contact
Contact sensors are those which require physical contact
against other objects to trigger. A push button switch, limit switch
or tactile bumper switch are all examples of contact sensors. Limit
Switch these sensors are mostly used for obstacle avoidance
robots. When these switches hit an obstacle, it triggers the robot
to do a task, which can be reversing, turning, switching on a LED,
Stopping etc. There are also capacitive contact sensors which
react only to human touch (Not sure if they react to animals
touch).

Sound
As the name suggests, this sensor (generally a microphone)
detects sound and returns a voltage proportional to the sound
level. A simple robot can be designed to navigate based on the
sound it receives. Imagine a robot which turns right for one clap
and turns left for two claps. Complex robots can use the same
microphone for speech and voice recognition.

Infra-red

Infra-red sensors are a type of light sensors, which function


in the infra-red part of the frequency spectrum. IR sensors consist
are active sensors: they consist of an emitter and a receiver.
By: Cody Winsor

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