8/8/2019 Study of Robotic Sensors
3/4
Name Picture Description Typical Use Robotic
Radar
range based on time
of flight of radio
energy pulses, rangea function of antenna
size (ft to miles)
robot obstacledetection through
rain and snow,
range 1-64m 2deg,size 30cm radius,
0.25m resolution,
1.5m separation
Collecting dish and
waveguide make this diffito apply to smaller robots
Radar
Microwave
range based on time
of flight of radioenergy pulses, range
a function of antenna
size (ft to miles)
automatic dooropeners for
department stores
waveguides dominate sizehigh frequency componen
(50+ GHz)
Sick Laser
based on reflection
and triangulation.Spinning laser strip
and reflected light
becoming popularplatform in
robotics
4-150m range, 15xl8xl5cm
0.5% angle, 50mm rangeresolution, processing
required, 24vdc Most limi
aspect is size.
Lidar
LightDetection
and Ranging
based on
triangulation with
internal psd, theseoriginal designs were
very expensive and
not readily available5m to 20km
Used alot for
atmospheric
analysis. Somework in obstacle
detection for
robots
Fast electronics required(1ns=5in), large optics are
range error up to 5m
Scanning
laser
w/detector
combined laserstripping (laser w/spinning mirror) with
video camera, range a
function of height in
video image,difficulties in
alignment of optics
Grocery storescanners, bar code
readers Some
limited application
to obstacledetection in robots
Most difficulty in measuri
TOF of laser, needs fast
electronics. Some optics
required as well
Electrostatic
Ultrasonics
Detector essentially alarge capacitor with
an ultrasonic
resonance Samedetector can transmit
and receive. Wide
frequency response(50kHz), good
sensitivity.
Obstacle rangedetection, tank
level, stud
detection
Requires high bias voltage
and drive currents.
Polaroid
Sonar
complete sonar
rangefinder w/analog
interface. Range30cm to 6m
Staple of most
robotic platforms
300V 2amp transducer su
http://f/dt/Robotic%20sensors/Small%20Robot%20Sensors1_files/polaroid.gifhttp://f/dt/Robotic%20sensors/Small%20Robot%20Sensors1_files/pol2.gifhttp://f/dt/Robotic%20sensors/Small%20Robot%20Sensors1_files/laser_r.gifhttp://f/dt/Robotic%20sensors/Small%20Robot%20Sensors1_files/lidar.gifhttp://f/dt/Robotic%20sensors/Small%20Robot%20Sensors1_files/sick.gifhttp://f/dt/Robotic%20sensors/Small%20Robot%20Sensors1_files/kirsch_radar.jpghttp://f/dt/Robotic%20sensors/Small%20Robot%20Sensors1_files/radar1.gif
