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1、16.1 Introduction to Robot SensorsApplication of multi-sensors in mobile robot6.1 Introduction to Robot Sensors第1页/共40页2Robot 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
2、as arm joint position,velocity,and acceleration.External stateLocalize the robot to the environment,deal with the detection of variables such range,proximity,and touch.6.1 Introduction to Robot Sensors第2页/共40页3Most needed sensory abilities for robot:Simple Touch:detect whether the object is there or
3、 not.Compound Touch:detect the size and shape of the object.Simple Force:detect force along one direction.Compound 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 obje
4、ct.6.1 Introduction to Robot Sensors第3页/共40页446.1 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4页/共40页5位置传感器 A position sensor is any idea that permits position measurement.It can either
5、be an absolute position sensor or a relative one(displacement sensor).Position sensors can be either linear or angular.Inductive Non-Contact Position Sensors,String Potentiometer,Linear variable differential transformer(LVDT),Potentiometer,Capacitive transducer,Hall effect sensor,Proximity sensor(op
6、tical),Grating sensor,Rotary encoder(angular),Photodiode array,etc.6.2 Internal Sensors6.2 Internal Sensors第5页/共40页61.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6页/共40页7A rotary encoder,also called a shaft enc
7、oder,is an electro-mechanical device that converts the angular position of a shaft or axle to an analog or digital code,making it an angle transducer.2.Rotary encodera)导电塑料型b)线圈型6.2 Internal Sensors第7页/共40页83.Electro-optical Position Sensora)光电位置传感器 b)感光量曲线 6.2 Internal SensorsFind the relationship
8、between the distance and the received light volume(shows in Fig.b)in advance,we can measure the displacement x of the light source.第8页/共40页91Absolute 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 r
9、ound of 360 degrees).第9页/共40页10Absolute rotary encoders can also be used to detect angular velocity.By comparing current value and stored values,we can obtain the corresponding angular velocity.1Absolute Optical Angle Sensor6.2 Internal Sensors第10页/共40页11Counting the number of conversions to calcula
10、te relative angle.Incremental rotary encoder can only measure relative angle from initial value to current one.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
11、6.2 Internal Sensors第11页/共40页12In this approach,no matter the clockwise(CW)rotation,or counter-clockwise(CCW)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12页/共40页13Adding another sensor(B)
12、1/4 cycle away from sensor A.Typically,when clockwise(CW)rotation,signal A changes before B,vice versa.2Relative Angle Sensor6.2 Internal Sensors第13页/共40页14Attitude sensors are used to detect the relative relationship between the robot and ground.When the robot is fixed(just as the majority of indus
13、trial robot),there is no need to install such sensors.Attitude sensors are essential for mobile robots.Attitude 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14页/共40页15A gyroscope i
14、s a device for measuring or maintaining orientation,based on the principles of conservation of angular momentum.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15页/共40页16gas 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
15、the right)2Other Gyros6.2 Internal Sensors第16页/共40页17176.1 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17页/共40页18 触觉传感器The prototype of robot tactile sensor is an imitation of human tact
16、ile sense of touch functions:Tactile sensePressure senseSlip senseForce sense6.3 External Sensors 内传感器6.3 External Sensors第18页/共40页191Touch 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19页/共40页20Robot press
17、ure sensor can detect the pressure and its distribution through an array of piezoelectric elements.(Eg.Springs(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
18、 eggs.6.3 External Sensors第20页/共40页21Slip sensor is used to detect force and displacement in the vertical direction of the pressure.3Slip Sensor 滑觉传感器6.3 External Sensors第21页/共40页22Robot Force sensors can be divided into 3 categories:Joint force sensor,installed in the joint actuator,measure the out
19、put force and torque of the actuator itself,is used to control the feedback of the force.Wrist force sensor,mounted 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 clamp
20、ing force of an object.4Force Sensor 力觉传感器6.3 External Sensors第22页/共40页23Draper实验室研制的六维腕力传感器SRI（Stanford Research 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23页/共40页24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
21、receiver,which are both based on piezoelectric effect(压电效应).6.3 External Sensors第24页/共40页25Principles of Ultrasonic 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25页/共40页261Ultrasonic Distance Sensor 6.3 External Sensors第26页/共40页272Proximity Sensors 接近觉传感器
22、A proximity sensor is a sensor able to detect the presence of nearby objects without any physical contact.A proximity 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 obj
23、ect being sensed is often referred to as the proximity sensors target.6.3 External Sensors第27页/共40页28Different 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 targ
24、et.2Proximity Sensors6.3 External Sensors第28页/共40页29Research have shown that the visual perception of information 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 ce
25、lls of the skin（皮肤触觉）.视觉传感器6.3 External Sensors第29页/共40页30Charge-coupled device(CCD)is a major technology for 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
26、is required.CCD(Charge-Coupled Device)Sensors6.3 External Sensors第30页/共40页31A total of 256 gray scale,from the 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31页/共40页32Figure(a)to(f)with resolution of
27、 512 512,followed by 256,64,16,8,4,and 2 gray levels.The impact of change on the image gray 6.3 External Sensors第32页/共40页33Figure(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 g
28、ray scale.The impact of changes in both resolution and grayscale6.3 External Sensors第33页/共40页34346.1 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34页/共40页356.4 Considerations in Robot Sen
29、sor Application 机器人传感器应用中考虑的问题High precision,good repeatabilityGood stability,high reliabilityStrong anti-interference abilityLight weight,small size,easy installationCheap6.4 Robot Sensor Application Considerations第35页/共40页36366.1 Introduction to Robot Sensors 6.2 Internal Sensors（内部传感器）6.3 Externa
30、l Sensors（外部传感器）6.4 Robot Sensor Application Considerations 6.5 SummaryCh.6 Robot Sensors第36页/共40页376.5 Summary 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37页/共40页386.5 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38页/共40页39Thank youFor Attention!Fundamentals of Robotics39第39页/共40页40感谢您的观看。第40页/共40页