Mobilni roboti i infracrveni senzori Mobile Robots and Infrared Sensors

Istvn Matijevics Via Tehnika kola, Subotica

Sadraj Mobilni robot je opremljen sa razliitim senzorima. Najee korieni senzori mogu izmeriti rastojanje izmeu robota i objekta, ili samo detektovati prepreke. Vreme merenja ponekad je vaan faktor i slaba taka u navigaciji robota. U komunikaciji sensormikrokontroler se javlja tehniki problem zbog kanjenja u komunikaciji. Karakteristike infracrvenog senzora su nelinearne i ovise i od materijala prepreka. U ovom radu je opisan model senzora i realizovana su merenja razdaljina. Prikazani su i analizirani rezultati merenja. Abstract The mobile robot is a multi-sensor system with some very different types of sensors. The most often used sensors are able to measure the distance robot-target, or only detect the obstacles. The response time (measuring time) in some cases is important and the weak (point) spot in robot moving. The sensor-microcontroller communication is a technical problem with timing problems. Infrared (IR) and ultrasonic (Sonar) sensors responses from obstacles are non-linear and depends on the reflectance characteristics of the object surface. In this paper is the sensor model described and realized in distance measuring. The experimental results are discussed. 1. INTRODUCTION [1] Infrared (IR) sensors are used for obstacle avoidance in mobile robots. IR sensors have lower cost and faster response time than ultrasonic (US) sensors. IR sensor characteristics are non-linear and the reflected light quality depends on the surface quality and environment light intensity. Some technical parameters have influences on the precision of the obstacle avoidance. These types of sensors are good as proximity detectors in robotics. Unlike IR sensors, the US sensors are able to measure the robot-obstacle distance with better precision from one or two cm to 5-6 meters. The measuring time with these sensors depends on the air temperature (in air by 20 C o is 340 m/s) and is relatively long with far obstacles. The wide angular sensitivites lobe is also crucial (sometimes more than 350 ), causes poor angular resolution. The angular resolution is better by IR sensors and response time is faster than US sensors response time.

It is gainful to combine US sensors with other measurement technics to determine surface properties. In most cases the US and IR sensors are used together to improve the robot navigation preciseness. In this article there is analysing the Parallax Boe_Bot [2] mobile robots IR sensor. Parallax Boe_Bot mobile robots kit is in Fig. 1,

Fig. 1. Parallax Boe_Bot mobile robot 2. IR SENSOR HARDWARE The IR sensor consists IR LED emitter and photo sensitive transistor (Fig. 2., Fig. 3. and Fig. 4.) Photo-transistor is in a plastic house with filter for daylight. LED is in series connection with resistor and controlled over the microcontroller out pin. There are two IR sensors in front of robot. The IR sensor is used with 980 nm wavelength light .

Fig. 2. LED

Fig. 4. Assembled light detection circuit Using the next program the robot sends and receives infrared light signal.
DO FREQOUT 6, 1, 37500 irRight = IN4 IF (irRight = 0) THEN HIGH 7 FREQOUT 5, 50, 2000 ELSE LOW 7 ENDIF PAUSE 20 LOOP 37500Hz signal receive if input then turn on LED beep if no signal, turn off LED 20 ms wait

The obstacle, 11 x 23 cm white paper is always 900 degree to the robot forehead, squaring to the front side. The accuracy of measurement is near 1 cm. The results are on Fig. 5. Fig. 3. IR light detection circuit

All surfaces give the maximums of the same frequencies, but there are large discrepancies among the materials. Responsiveness is a maximum by the yellow shiny and minimum by the black surfaces, three-times larger is the sensitivity by yellow material. Shiny and matt black surfaces give the same result. White matt surface light response limits are on the next figure (Fig. 7.), the blue curve is for 100 % safe signal perception, red is the farthest, but yet safe.

Fig. 5. IR sensor range, distance between the robot and obstacle There are two consequences, first, R1 resistor rating insures the distance-receptivity and second, the curve has two peaks (by 27.5 kHz and 37.5 kHz). The splitting of the curve by 0.5 m or more is measurement inaccuracy, the reason for this effect is in fact, that other objects obstruct the reflection (to the big angle of the sensor). In the original documentation is the distance measuring in frequency range between 33 kHz and 43 kHz . The obstacles surface qualities are also determinative for the infrared diagrams. On the next figure (Fig. 6.) are curves with various types of materials. The R1 resistor is fixed (4.7 k ).

Fig.7. From white matt obstacle surface received light limits Black half-shiny surface light response limits are on the next figure (Fig. 8.), the blue curve is for 100 % safe signal perception, the red is the farthest, but yet safe.

Fig. 8. From half-shining obstacle surface received light limits 3. CONCLUSIONS If we want to operate with accurate data using IR distance measuring, then the electric parameters settings are available for this solution. The obstacles surface qualities also take the bearing the distance detection level, the effects are decisive in mobile robots navigation precision.

Fig. 6. Light reflections limits with different obstacles materials Note: the flat of hand is only about the obstacle surface size (11 x 23 cm).

REFERENCES
[1] G. Benet, F. Blanes, J.E. Sim and P. Prez, Using infrared sensors for distance measurement in mobile robots, Robotics and Autonomous Systems vol. 40, pp. 255-266, April 2002.

[2] [3]

- Robotics with the Boe_Bots, student guide, www.parallax.com J.C. Alvarez, R.C. Gonzales, D. Alvarez and A.. Lopez, Managing Limited Sensing Resource for Mobile Robots Obstacle Avoidance, source: Cutting Edge Robotics, ISBN 3-86611-038-3, ARS/pIV, Germany, July 2005, Edited by: Kordic, V: Lazinica, A. & Merdan. M, 185-200.