Handout Praktikum,

Dr Radite Praeko A.S., Feb2004

Small Robot Sensors

This is a pictoral collection of sensors available to all robots. It is immediately plain to see that many of
these sensors cannot be used on small robots just because of the size of the sensing element itself.
I have classified the sensors in the following catagories
Range
Imaging Proximity Orientation Contact Internal

Other

Communications

Range (Jelajah)
Name

Pic

Description

Typical Use

Radar

range based on time

of flight of radio
energy pulses, range
a function of
antenna size (ft to
miles)

Radar
Microwave

range based on time

of flight of radio
energy pulses, range automatic door openers
a function of
for department stores
antenna size (ft to
miles)

Ground Radar

large scale, complex

designed for ground
range based on time
electronics, not well
penetration, construction,
of flight
suited for robot sensing
survey , demining
(demining)

Sick Laser

based on reflection
and triangulation. becoming popular
Spinning laser strip platform in robotics
and reflected light

Lidar
Light Detection
and Ranging

robot obstacle detection

through rain and snow,
range 1-64m 2deg, size
30cm radius, 0.25m
resolution, 1.5m
separation

Robotic

Collecting dish and

waveguide make this
difficult to apply to
smaller robots.

Links

123

waveguides dominate
size, high frequency
components (50+ GHz)

4-150m range,
15xl8xl5cm, 0.5%
angle, 50mm range
resolution, processing
required, 24vdc Most
limiting aspect is size.

12

based on
triangulation with
internal psd, these Used alot for atmospheric Fast electronics required
original designs
analysis. Some work in (1ns=5in), large optics
1234
were very expensive obstacle detection for
area, range error up to
and not readily
robots
5m
available 5m to
20km

Handout Praktikum,
Dr Radite Praeko A.S., Feb2004

Scanning laser
w/detector

combined laser
stripping (laser w/
Grocery store scanners,
spinning mirror)
bar code readers Some
with video camera,
limited application to
range a function of
obstacle detection in
height in video
robots
image, difficulties in
alignment of optics

Electrostatic
Ultrasonics

Detector essentially
a large capacitor
with an ultrasonic
resonance Same
Requires high bias
detector can
Obstacle range detection,
voltages and drive
transmit and
tank level, stud detection
currents.
receive. Wide
frequency response
(50kHz), good
sensitivity.

Polaroid Sonar

complete sonar
rangefinder
Staple of most robotic
w/analog interface. platforms
Range 30cm to 6m

300V 2amp transducer

12
surge

Mini Polaroid
Sonar

Improvement on
Polaroid model.
Electronics
embedded in back
of module

Robotic obstacle
detection

More efficient use of

space at expense of cost
and power

PiezoElectric
Ultrasonics

small piezo electric

crystal sensitive to
ultrasonic vibrations
tight frequency
band, low power,
high sensitivity,
cheap.

sensitive to mechanical
noise and vibration, slow
transient response, single
mode frequency

small size and low

power make them ideal
for small robots. Some
electronics needed for
filtering noise and
processing signals

Piezo Sonar
Board

Sold as parking assistance

simple time of flight sensor and some robotic limited range (<2m)
application

Infrared
Ranging

based on simple
infrared
triangulation. Range
10-80cm in 5deg
cone

Most difficulty in
measuring TOF of laser,
needs fast electronics. 1 2 3
Some optics required as
well

Trigger for many

automatic toilets, Starting narrow fov, sensitive to
1
to gain momentum in
surface reflectivity
robots

Handout Praktikum,
Dr Radite Praeko A.S., Feb2004

Sound Buzzer

Primary use is as a user

Can be modified as
Audio tranducer, 1- indicator Use in a few
transmitter for crude
10kHz
robotic applications with
proximity or range
limited success

Microphone

Receiver for audio

range or proximity
detector, can be
primary uses are remote
combined in an
audio pickup for user.
array to give relative Can be modified for
bearing based on
range or bearing
phase difference in
received signals

both sensor and

electronics can be very
small. Signal
conditioning and noise
filtering more difficult

Imaging (Citra)
Name

Pic

Description

Typical Use

Linear Arrays

linear array of
photocells (64-256) line scanners, bar code
on a chip. Requires readers, line followers,
external optics to
actuator position detectors
detect larger areas

Position
Sensitive
Device

produces voltages
(x,y) proportional to
displacement along
axis

Robotic

Links

Since array detects

intensity, some scheme is
needed to remove ambient
and noise

potential use in small

used to detect position of a
robots for detection of
laser beam in line
custom laser beam or other
scanners, surveying,
light source Hard to find,
positioning
little detail about operation

minature cameras,
Primarily used to return
low power (<30ma),
remote video to operator
ccd or cmos

Small video tends to be

low resolution. requires
onboard video processing
or wireless transmittion.
Wireless adds a fair degree
of noise

Digital Camera

nxn array of
photocells, digital
output

promising for small robots

because they can be
processed locally with
little effort, lower
resolution than most
cameras

IR Camera

Firefighting, heat loss

detects light below
detection, intruder
visible, near infrared
detection

expensive, hard to find,

still needs video capture
electronics

Omni Camera

camera with added

mirror or lenz to
increase fov
(typically 360 deg)

image resolution suffers,

requires high degree of
calibration and processing, 1
image processing more
complicated

Camera

web based video,

fingerprint, robot video

Used by robotics to
provide 360deg view

Handout Praktikum,
Dr Radite Praeko A.S., Feb2004

Proximity (Ke-dekat-an)
Name

Pic

Description

Typical Use

Robotic

Cadmium
Sulfide Cell

Resistance a
function of
Automatic dimmers,
impinging visible
ambient light detectors
light, most sensitive
to green

Light Diode

light sensitive diode,

conduction (fwd or
rev) a function of
Need to add electronics for
remote controls,
light intensity, can
bias and detection. Can be
combined to make arrays
be very sensitive.
built up in arrays
Can get in infrared
range

Pin Diode

Output a function on Sensing element in Dirrs requires fair degree of

where light strikes (triangulation), laser
electronics (some optics)
the diode
applications, autofocus for setup

Amplified
Diode

Larger surface
printer functions, remote more sensitive to noise,
photodiode w/ built
control
larger footprint
in amplifier

Emitter
Detector

Emitter and receiver

added together for
proximity, crude
range detector.
Simple actuator position Intensity based schemes
Based on measuring detection, close proximity sensitive to ambient light
intensity of signal. and some line following and surface reflectivity
Upper detection
range typically
<10cm

Reflector

Emitter and receiver

mounted together
for proximity, crude
Simple actuator position Intensity based schemes
range detector.
detection, close proximity sensitive to ambient light
Based on measuring
and some line following and surface reflectivity
intensity of signal.
Prebuilt detectors
usually <4cm

IR Receiver
Demod

prebuilt receiver
with built in
receiver, amplifier,
demodulator and
Primary used in ir remote
optics. Reduced
control
sensitivity to
ambient, smaller
footprint

Links

slow response (freq and

time)(order of seconds),
difficult to decouple
ambient

large footprint relative to

detector, amplification
based on chopper - not
good for carrier detect,
good for encoded detect
sensitive to surface
reflectivity

Handout Praktikum,
Dr Radite Praeko A.S., Feb2004

IR Receiver
Demod

prebuilt receiver
with built in
receiver, amplifier
Primary used in ir remote
and demodulator.
control
Reduced sensitivity
to ambient (used in
ir remote control)

Can be converted to do
crude proximity/range large
footprint relative to
detector, amplification
based on chopper - not
good for carrier detect,
good for encoded detect.
sensitive to surface
reflectivity

IR Receiver
Demod

prebuilt receiver
with built in
receiver, amplifier,
demodulator and
Primary used in ir remote
optics. Reduced
control
sensitivity to
ambient (used in ir
remote control),
smaller footprint

amplification based on
chopper - not good for
carrier detect but good for
encoded detect. sensitive to
surface reflectivity

IRDA

IRDA transceiver
block.

Capacitive
Proximity

Detects distance to
object based on
Used in industrial
combined capacitive machines for relative
field. range typically position detectors
on the other of cm

RF
Proximity

Range a function of Room level proximity

Hard to predict effects of
the intensity of the detection (is in room, not
obstacles on RF field
RF signal received in room)

RFID
Detector

some work done in

Generates an RF
used for package tracking improvement of robot
field to be detected and people and package localization. However range
by receiver
locators
is very crude and subject to
effects of environment

RFID
Receiver

Detects presence of
an RF field. Some
IDs can transfer low
used for package tracking
bandwidth
and people and package
information Power
locators
for device often
embedded in RF
carrier

Can be modified for ir prox

Used mostly for 2way IR (built in amplifier and
comms
conditioner) still sensitive
to surface reflectivity

Maybe good for collision

detection or actuator
alignment

some work done in

improvement of robot
localization. However range
is very crude and subject to
effects of environment

Orientation (orientasi)
Name

Pic

Description

Typical Use

Robotic

Links

Handout Praktikum,
Dr Radite Praeko A.S., Feb2004
Absolute position
determined by
measuring tof to
satellites

GPS

Still does not have to

Originally only for
position resolution
large vehicles, recently
for most robotic
starting to be used in
platforms. Does not
embedded applications
work well indoors

Accelerometer

Measures
Detector in airbags,
acceleration applied
pointer devices
to MEMs sensor

Some attempts in
intertial position
estimation but very
noisy. Better for
verification of
movement.

Gyrometer

Detects angular
momentum
(rotation)

Same problems as
accelerometer, good
for short changes but
error over time
builds quickly

Basis for an intertial

direction sensor

Gyrometer

Gyrometer

Compass

Compass

Compass

Pendulum

Contact (Sentuh)
Name

Pic

Description

Typical Use

Robotic

Links

Handout Praktikum,
Dr Radite Praeko A.S., Feb2004

Tilt Sensor

Limit Switch

Miniature
Button

Touch Sensor

Touch Sensor

Piezo Film

Flex Sensor

Bend Sensor

Bend Sensor

Handout Praktikum,
Dr Radite Praeko A.S., Feb2004

Internal (Bagian dalam)

Name

Pic

Description

Typical Use

Robotic

Links

Rotary Encoder

Edge Encoder

Capacitive
Encoder

Strain Gauge

Hall Effect

Magnetic Reed

Handout Praktikum,
Dr Radite Praeko A.S., Feb2004

other (lain-lain)
Name

Pic

Description

Typical Use

Robotic

Links

Magnetic
Proximity

Capacitive
Proximity

Interrupt
Detector

Humidity
Detect

Thermistor

Gas Sensor

Radiation
Sensor

Pressure Sensor

Force Sensor

Solar Cell

Handout Praktikum,
Dr Radite Praeko A.S., Feb2004

Pyro Sensor

UV Sensor

Magnetic Field
Sensor

LCD Display

Communications (komunikasi)
Name

Pic

Description

Typical Use

Robotic

IRDA

IRDA transceiver block.

Used mostly for 2way IR still sensitive to surface
comms but can be modified reflectivity
for ir prox

Light Diode

light sensitive diode,

forward conduction a
fair degree of
function of light intensity, electronics needed to
can be very sensitive can derive information
get in infrared range

Pin Diode

requires fair degree of

Output a function on where
electronics (some
light strikes the diode
optics) for setup

Amplified
Diode

Large surface photodiode

w/ built in amplifier

Links

more sensitive to noise,

larger footprint

IR w/Lens

10

Handout Praktikum,
Dr Radite Praeko A.S., Feb2004

Sound Buzzer

difficult to produce
sound based time of
sufficient amplitude,
flight/prox, 1-2kHz typical,
detectable by humans

Microphone

sound based time of

easy to detect sound,
flight/prox - bandwidth up
difficult to produce at
to 40khz, some with built
sufficient amplitudes
in amplifier,

RFID Detector

some work done in

improvement of robot
Generates an RF field used for package tracking
localization. However
to be detected by
and people and package
range is very crude and
receiver
locators
subject to effects of
environment

RFID Receiver

Detects presence of an
RF field. Some IDs
can transfer low
used for package tracking
bandwidth
and people and package
information Power for
locators
device often
embedded in RF
carrier

some work done in

improvement of robot
localization. However
range is very crude and
subject to effects of
environment

11