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1、1Ch.6 Robot Sensors16.1 Introduction to Robot Sensors 6.2 Internal Sensors（内部传感器）6.3 External Sensors（外部传感器）6.4 Robot Sensor Application Considerations 6.5 SummaryCh.6 Robot Sensors第1页/共41页26.1 Introduction to Robot SensorsApplication of multi-sensors in mobile robot6.1 Introduction to Robot Sensors
2、第2页/共41页3Robot sensors can be divided into two main categories:Internal stateDetect position and orientation in the coordinate of the robot itself,deal with the detection of variables such as arm joint position,velocity,and acceleration.External stateLocalize the robot to the environment,deal with t
3、he detection of variables such range,proximity,and touch.6.1 Introduction to Robot Sensors第3页/共41页4Most needed sensory abilities for robot:Simple Touch:detect whether the object is there or not.Compound Touch:detect the size and shape of the object.Simple Force:detect force along one direction.Compo
4、und Force:detect forces along multiple directions.Proximity:non-contact detection of objects.Simple Vision:detect feature such as holes,lines,and corners.Compound Vision:recognition of object.6.1 Introduction to Robot Sensors第4页/共41页556.1 Introduction to Robot Sensors 6.2 Internal Sensors（内部传感器）6.3
5、External Sensors（外部传感器）6.4 Robot Sensor Application Considerations 6.5 SummaryCh.6 Robot Sensors第5页/共41页6位置传感器 A position sensor is any idea that permits position measurement.It can either be an absolute position sensor or a relative one(displacement sensor).Position sensors can be either linear or
6、angular.Inductive Non-Contact Position Sensors,String Potentiometer,Linear variable differential transformer(LVDT),Potentiometer,Capacitive transducer,Hall effect sensor,Proximity sensor(optical),Grating sensor,Rotary encoder(angular),Photodiode array,etc.6.2 Internal Sensors6.2 Internal Sensors第6页/
7、共41页71.Linear Potentiometer 线性电位计 Consists of a wirewound resistor(or a thin film resistor),and a sliding contact point.6.2 Internal Sensors第7页/共41页8A rotary encoder,also called a shaft encoder,is an electro-mechanical device that converts the angular position of a shaft or axle to an analog or digi
8、tal code,making it an angle transducer.2.Rotary encodera)导电塑料型b)线圈型6.2 Internal Sensors第8页/共41页93.Electro-optical Position Sensora)光电位置传感器 b)感光量曲线 6.2 Internal SensorsFind the relationship between the distance and the received light volume(shows in Fig.b)in advance,we can measure the displacement x
9、of the light source.第9页/共41页101Absolute Optical Angle Sensor 光学式绝对型旋转编码器6.2 Internal SensorsFor example,resolution of a 12 bit encoder is 2-12=4096,so we have a resolution of 1/4096 (for a round of 360 degrees).第10页/共41页11Absolute rotary encoders can also be used to detect angular velocity.By compar
10、ing current value and stored values,we can obtain the corresponding angular velocity.1Absolute Optical Angle Sensor6.2 Internal Sensors第11页/共41页12Counting the number of conversions to calculate relative angle.Incremental rotary encoder can only measure relative angle from initial value to current on
11、e.Therefore,in order to know the exact current angle value,some other methods(such as the absolute encoder)are needed to identify the initial value of angle.2Relative Angle Sensor 光学式增量型旋转编码器6.2 Internal Sensors第12页/共41页13In this approach,no matter the clockwise(CW)rotation,or counter-clockwise(CCW)
12、rotation,output of the sensing light always alternate between H and L,so we can not get the direction of rotation.2Relative Angle Sensor6.2 Internal Sensors第13页/共41页14Adding another sensor(B)1/4 cycle away from sensor A.Typically,when clockwise(CW)rotation,signal A changes before B,vice versa.2Relat
13、ive Angle Sensor6.2 Internal Sensors第14页/共41页15Attitude sensors are used to detect the relative relationship between the robot and ground.When the robot is fixed(just as the majority of industrial robot),there is no need to install such sensors.Attitude sensors are essential for mobile robots.Attitu
14、de sensors detect moving changes in position and orientation of the robot that can be used to control the robot implement desired instruction.姿态传感器6.2 Internal Sensors第15页/共41页16A gyroscope is a device for measuring or maintaining orientation,based on the principles of conservation of angular moment
15、um.1电动机2角度传感器3转子4一弹簧 Shown right is a rate gyro.1Gyro Sensor 陀螺仪6.2 Internal Sensors第16页/共41页17gas rate gyroscope气体速率陀螺仪optical gyroscope光陀螺仪piezoelectric vibratory gyroscope压电振动式陀螺(shown on the right)2Other Gyros6.2 Internal Sensors第17页/共41页18186.1 Introduction to Robot Sensors 6.2 Internal Sensors
16、（内部传感器）6.3 External Sensors（外部传感器）6.4 Robot Sensor Application Considerations 6.5 SummaryCh.6 Robot Sensors第18页/共41页19 触觉传感器The prototype of robot tactile sensor is an imitation of human tactile sense of touch functions:Tactile sensePressure senseSlip senseForce sense6.3 External Sensors 内传感器6.3 Ext
17、ernal Sensors第19页/共41页201Touch Sensor 接触觉传感器Application:Touch sensors are equipped in the palm of the end-effctor in order to grip objects precisely.6.3 External Sensors第20页/共41页21Robot pressure sensor can detect the pressure and its distribution through an array of piezoelectric elements.(Eg.Spring
18、s(弹簧)for mechanical detecting).2Pressure Sensor 压觉传感器Applications:By smart control of pressure,end-effector can pick up not only fragile objects as glass cups,but also soft object as tofu and eggs.6.3 External Sensors第21页/共41页22Slip sensor is used to detect force and displacement in the vertical dir
19、ection of the pressure.3Slip Sensor 滑觉传感器6.3 External Sensors第22页/共41页23Robot Force sensors can be divided into 3 categories:Joint force sensor,installed in the joint actuator,measure the output force and torque of the actuator itself,is used to control the feedback of the force.Wrist force sensor,m
20、ounted between the end-effector and the last joint,measure forces and torques on the end-effector for all directions.Finger force sensor,installed in the robot finger joints,measure the clamping force of an object.4Force Sensor 力觉传感器6.3 External Sensors第23页/共41页24Draper实验室研制的六维腕力传感器SRI（Stanford Rese
21、arch Institute）研制的六维腕力传感器林纯一研制的腕力传感器4Force Sensor6.3 External Sensors第24页/共41页25机器人距离传感器 1 Ultrasonic Distance Sensor 超声波距离传感器 Ultrasonic distance sensor is consisting of a transmitter and a receiver,which are both based on piezoelectric effect(压电效应).6.3 External Sensors第25页/共41页26Principles of Ultr
22、asonic Ranging-TOF(Time Of Flight，时间行程法)超声波测距原理图1Ultrasonic Distance Sensor6.3 External Sensors第26页/共41页271Ultrasonic Distance Sensor 6.3 External Sensors第27页/共41页282Proximity Sensors 接近觉传感器 A proximity sensor is a sensor able to detect the presence of nearby objects without any physical contact.A p
23、roximity sensor often emits an electromagnetic or electrostatic field,or a beam of electromagnetic radiation(infrared,for instance),and looks for changes in the field or return signal.The object being sensed is often referred to as the proximity sensors target.6.3 External Sensors第28页/共41页29Differen
24、t proximity sensor targets demand different sensors.For example,a capacitive or photoelectric sensor might be suitable for a plastic target;an inductive proximity sensor requires a metal target.2Proximity Sensors6.3 External Sensors第29页/共41页30Research have shown that the visual perception of informa
25、tion accounts for 80%of what people perceived from outside world.Cells of human vision have the magnitude of about 108,is 3000 times to auditory cells(听觉),and over 100 times to the sensory cells of the skin（皮肤触觉）.视觉传感器6.3 External Sensors第30页/共41页31Charge-coupled device(CCD)is a major technology for
26、 digital imaging.Although CCDs are not the only technology to allow for light detection,CCDs are widely used in professional,medical,and scientific applications where high-quality image data is required.CCD(Charge-Coupled Device)Sensors6.3 External Sensors第31页/共41页32A total of 256 gray scale,from th
27、e Figure(a)to(f)followed by resolution of 512 512,256 256,128 128,64 64,32 32,16 16.The impact of change on the image resolution6.3 External Sensors第32页/共41页33Figure(a)to(f)with resolution of 512 512,followed by 256,64,16,8,4,and 2 gray levels.The impact of change on the image gray 6.3 External Sens
28、ors第33页/共41页34Figure(a)to(f)followed by:256 256,128-level gray scale;181 181,64-level gray scale;128 128,32-level gray scale;90 90,16-level gray scale;64 64,8-level gray scale;45 45,4-level gray scale.The impact of changes in both resolution and grayscale6.3 External Sensors第34页/共41页35356.1 Introduc
29、tion to Robot Sensors 6.2 Internal Sensors（内部传感器）6.3 External Sensors（外部传感器）6.4 Robot Sensor Application Considerations 6.5 SummaryCh.6 Robot Sensors第35页/共41页366.4 Considerations in Robot Sensor Application 机器人传感器应用中考虑的问题High precision,good repeatabilityGood stability,high reliabilityStrong anti-int
30、erference abilityLight weight,small size,easy installationCheap6.4 Robot Sensor Application Considerations第36页/共41页37376.1 Introduction to Robot Sensors 6.2 Internal Sensors（内部传感器）6.3 External Sensors（外部传感器）6.4 Robot Sensor Application Considerations 6.5 SummaryCh.6 Robot Sensors第37页/共41页386.5 Summa
31、ry 小结传感机器人是通过各种传感器或传感系统，向机器人提供感觉的装置，如视觉、听觉、触觉、力觉、嗅觉等。这种智能机器人的智能是由传感器提供的。首先阐述机器人传感器的特点与分类，涉及机器人的感觉顺序与策略、机器人传感器的分类以及应用传感器时应考虑的问题。接着分别讨论机器人的内传感器和外传感器。在内传感器部分，研究了位移/位置传感器、速度和加速度传感器及力觉传感器等。第38页/共41页396.5 Summary 小结在外传感器部分，研究了触觉传感器、应力觉传感器、接近度传感器和其他外传感器。最后，举例介绍了一些有代表性的机器人视觉装置，包括机器人眼、视频信号数字变换器和固态视觉装置等。对于各种传感器，着重讨论它们的工作原理，并说明了应用在应该注意的问题。第39页/共41页40Thank youFor Attention!Fundamentals of Robotics40第40页/共41页41感谢您的观看。第41页/共41页