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Sensor Interfacing

Why Robots need Sensors


 The first primitive of


robotics is “Sense”.

 A robot senses its


environment by means of
sensors and transducers
Different Types of Sensing
 Touch
 Vision
 Listening
 Feel ( Pressure,Temperature, Humidity)
 Smell

Similar to human beings Robots Can sense


all these with help of different types of


sensors
Different Sensors
For vision a robot Uses

1. Camera
2. Light and Infrared Sensors
Sound Sensors
The Common Sound Sensors are

1. Microphone

2. Ultrasound sensors


Temperature and Humidity

Thermistor Humidity Sensor


GAS SENSOR
Some More Sensors

Heartbeat Sensor

Passive Infrared Sensor


Sensor & Transducers
 Transducer is a device which converts
electrical signals to other kind of
energy and Vice-Versa.

 Sensor is an assembly which contains


some transducer and some
electronic processing circuitry
Resistive Transducers
 Resistive Transducers are those, whose
resistance varies with the change of
the external signal.

 Example – LDR, Thermistor



Commonly used Sensors in
Robotics
 Mainly Optical sensors are used in
robotics in student level, because they
are cheap and easily available

 Commonly Used Optical sensors Are


1. Light Dependent Resistors


2. Infrared Sensors
Light Dependent Resistor

An LDR has a resistance that


varies according to the amount of
visible light that falls on it. More
the incident light, less the
resistance. This is known as a
negative resistance co-efficient.
How the Light Sensor
works
vA LDR Sensor
array by THE
ARELAB.
v
vHere LDRs and
High intensity LEDs
are placed side by
side to make them
suitable for light
sensing
Reflection type LDR sensor

LDR
LED
Why Light Sensors are
Used

A Very common
objective in the
modern competition
robots is to follow a
white line on a black
background
Making the Potential
Divider

The LDR gives change of the resistance


DIVIDER

LDR

with the variation of incident light. We have


placed the LDR in one arm of a potential
divider.
RESISTIVE


Now, if the resistance of the LDR varies,
the output voltage of the potential divider
FIXED RESISTANCE

also changes

+
What to do next
 It is clear that the output of the potential divider is
an analog voltage. But Microcontroller does not
accept the analog voltage. So we need to convert
the analog voltage to digital before we feed it to
the microcontroller.

 For this conversion we can use


1. Comparators

2. ADCs
Comparators

COMPARATOR LM339

+
V+ V0 V0 = High when V+ > V-
V0 = Low when V+ < V-

-
V-
Comparators

COMPARATOR LM339

+
V(LDR) V0

-
V( REF)
V(LDR)= LDR output Voltage
V( REF) = To be set by a potentiometer
Setting the V(Ref)

Rotating the
potentiometer 22
times give the full
swipe of the
resistance range.
Connection of LDRs
POTENTIOMETER
+ 5V
Ω

RESISTIVE DIVIDER

LDR
COMPARATOR
+ LM339
OUTPUT
-
FIXED RESISTANCE

5V +
Checking the Resistance

2. 1 On white Line – More


2 Κ light Reflects, so LDR
V resistance goes down.
Ω On Black Background –
Less light reflects, So
LDR resistance goes up.
2. 6
9V Κ

Function of the Comparator

V+ + HIGH

V+ > V-

V- - 0V
Function of Comparator

V+ + LOW

V+ < V-

V- - 0V
Function of Comparator
+ 5V

V+ + HIGH

V+ > V-

V- - 5V
Drawbacks of LDR

 Does not give precise measurements for position


calculations.

 Ambient interference degrades performance


Infrared Sensors
 Infra-Red emitter sends IR
pulses

 Position calculation is done


through intensity of
reflected light received
by the detector.

 Ambient interference is
negligible
How to position IR sensor

EMITTER DETECTOR

0.5cm
IR connections
+ +

10 K OHMS

100
OHM
S

+
IR SENSOR ARRAY

Black Wire – Output Voltage

Red Wire - +5V

Brown Wire - Gnd


Thank You

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