Sensor for robots
Sensors for Robots
An overview
Václav Hlaváč
Czech Technical University in Prague
Faculty of Electrical Engineering
Department of Cybernetics
Czech Republic http://cmp.felk.cvut.cz/~hlavac Courtesy to several authors of presentations on the web.
Lecture outline
2
Note: students graduated from the bachelor KyR studied sensors in the course Sensors and
Measurement. This subject was not specialized to robotics.
Motivation, why robots need sensors?
Robotic sensor classification.
Proprioception in humans.
Various sensors overview.
Where are the forkholes?
3
Autonomous forklift for material handling
Will robot hit anything?
4
Obstacle detection
Where is the cropline?
5
Autonomous harvesting
Where am I ?
6
?
Localization in the environment
Robot sensors, generally
7
Sensor constitute robot’s window to the environment. A robot needs sensing to be an active participant in the environment.
Each sensor is based on a transduction principle, i.e. a conversion of energy from one form to another.
Sensors measure a physical quantity, they do not provide state.
Classification of sensors
8
Proprioceptive (“sense of self”, internal state). • Measures values internally to the system
(robot), e.g. battery level, wheel position, joint angle, etc.
Exteroceptive (external state).
• Observations of robot environment, objects in it.
Active (emits energy, e.g. radar) vs.
Passive (passively receives energy, e.g., camera). General sensor classification
9
General sensor classification 2
10
Characterizing sensor performance
11
Measurement in real world environment is error prone.
Basic sensor response ratings:
• Dynamic range: Ratio between lower and upper limits, usually in decibels.
• Range: Difference between min and max.
• Resolution: Minimum difference between two values.
• Linearity: Variation of output signal as function of the
input
An overview
Václav Hlaváč
Czech Technical University in Prague
Faculty of Electrical Engineering
Department of Cybernetics
Czech Republic http://cmp.felk.cvut.cz/~hlavac Courtesy to several authors of presentations on the web.
Lecture outline
2
Note: students graduated from the bachelor KyR studied sensors in the course Sensors and
Measurement. This subject was not specialized to robotics.
Motivation, why robots need sensors?
Robotic sensor classification.
Proprioception in humans.
Various sensors overview.
Where are the forkholes?
3
Autonomous forklift for material handling
Will robot hit anything?
4
Obstacle detection
Where is the cropline?
5
Autonomous harvesting
Where am I ?
6
?
Localization in the environment
Robot sensors, generally
7
Sensor constitute robot’s window to the environment. A robot needs sensing to be an active participant in the environment.
Each sensor is based on a transduction principle, i.e. a conversion of energy from one form to another.
Sensors measure a physical quantity, they do not provide state.
Classification of sensors
8
Proprioceptive (“sense of self”, internal state). • Measures values internally to the system
(robot), e.g. battery level, wheel position, joint angle, etc.
Exteroceptive (external state).
• Observations of robot environment, objects in it.
Active (emits energy, e.g. radar) vs.
Passive (passively receives energy, e.g., camera). General sensor classification
9
General sensor classification 2
10
Characterizing sensor performance
11
Measurement in real world environment is error prone.
Basic sensor response ratings:
• Dynamic range: Ratio between lower and upper limits, usually in decibels.
• Range: Difference between min and max.
• Resolution: Minimum difference between two values.
• Linearity: Variation of output signal as function of the
input