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Sensors: Capability and Complexity of Any Robotic System Is Directly Dependent On Its Number of Sensory Inputs

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Rishi Sharma
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57 views22 pages

Sensors: Capability and Complexity of Any Robotic System Is Directly Dependent On Its Number of Sensory Inputs

Uploaded by

Rishi Sharma
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 PPT, PDF, TXT or read online on Scribd
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Sensors

 Capability and
Complexity of any
robotic system is
directly dependent
on its number of
sensory inputs

www.ablab.in © ABLab Solutions


Sensors : The Family

SENSORS

Proximity/ Range Environmental

Mechanical Infrared Ultrasonic Light

Limit Switches Presence/ Absence Temperature

Intensity Pressure

Sound

Gases

Humidity

www.ablab.in © ABLab Solutions


Sensors: Proximity
 Mechanical Switches
(limit switches) to
detect the presence
or absence of an
obstacle
 Most reliable and
widely available
 Simple to use

www.ablab.in © ABLab Solutions


Sensors: Proximity
 A simple circuit
arrangement to
reverse a robot after
a “bump”

www.ablab.in © ABLab Solutions


Sensors : Proximity : Infrared
 Sensors working in
the infrared region
 Invisible to human
eye
 Detectable by digital
cameras
 Widely used in non-
contact proximity
sensing

www.ablab.in © ABLab Solutions


Sensors : Infrared
 Infrared LED paired
Obstacle
with an infrared
photodiode or
phototransistor
 Based on the
property of reflection
IR IR
 Measuring the LED Detector
intensity of the
reflected signal

www.ablab.in © ABLab Solutions


Sensors : Infrared
Infrared LED
 Transmits infrared light
 Available in different
shapes and sizes
 Categorized according
to output wavelength
and power
[ TV remote viewed through a digi-cam]
 Can be hacked from old
computer mice or
remote controls

www.ablab.in © ABLab Solutions


Sensors : Infrared
IR Photodiode
 Used in either zero bias
or reverse bias mode
 In zero bias it acts like a
solar cell
 In reverse bias, its
resistance changes with
the change in intensity
of incident light
 More sensitive in the
reverse bias mode

www.ablab.in © ABLab Solutions


Sensors : Infrared
IR Phototransistor
 Similar to a
transparent BJT
without the base
connection
 Much more sensitive
than an IR
photodiode due to
internal amplification
 Slower response

www.ablab.in © ABLab Solutions


Hands on: Line Detection

www.ablab.in © ABLab Solutions


Hands on: Line Detection

www.ablab.in © ABLab Solutions


Sensors : Infrared (Problems)

Ambient Light and how do we remove it ??

www.ablab.in © ABLab Solutions


Sensors : Infrared : Modulation
Obstacle

RX
IR IR
Transmitter Receiver

Signal Generator Signal OUTPUT


Filtering
(LM555 oscillator) Conditioning

www.ablab.in © ABLab Solutions


Sensors : Infrared : TSOPs
 Used as remote control
receivers in TV, Music
players, etc..
 Available for 30Khz to
56Khz carriers
 Immune to ambient light
 Output is active low and
toggles between 0 – 5V
 Easy to use
 Very Sensitive

www.ablab.in © ABLab Solutions


Sensors : Infrared : TSOP based
proximity sensor
Basic Schematic

www.ablab.in © ABLab Solutions


Hands on: IR Proximity module

www.ablab.in © ABLab Solutions


Sensors : Infrared : Readymade
 SHARP

www.ablab.in © ABLab Solutions


Sensors : Ultrasonics
 Using sound frequencies
above 25Khz
 Based on the principle of
echo
 Calculation of time of
flight, phase change and
attenuation of received
signal
[ Ultrasonic transducer pair ]
 Highly accurate
 Slow response

www.ablab.in © ABLab Solutions


Sensors : Enviromental

 Temperature
 Light
 Sound
 Pressure
 Humidity
 Gases

www.ablab.in © ABLab Solutions


Sensors : Temperature
 Thermistors
 Resistance changes
with the change in
temperature
 Types: PTC & NTC

www.ablab.in © ABLab Solutions


Sensors : Light
 Light Dependent
Resistor (LDR)
 Made up of Cadmium
Sulphide (Cds Cells)
 Range: 600ohms in light
to 2M ohms in darkness
 Sensitive to the whole
spectrum of light
 Cheap and easy to use

www.ablab.in © ABLab Solutions


Sensors

Any Questions ??

www.ablab.in © ABLab Solutions

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