UNIT III SENSORS AND MACHINE

VISION
 INTRODUCTION

• Internal State Sensors deals with the detection

of variables such as arm joint position.
• External State Sensors deals with detection of
variables such as range, proximity, guidance.
• Based on the converted signal
– Analog Transducer
– Digital Transducer
 Requirements of Sensors

• Accuracy
• Precision
• Operating Range
• Speed of Response
• Calibration
• Reliability
• Cost & ease of operation
 PIEZOELECTRIC SENSORS

• Piezo electric materials when stretched or

compressed generate electric charges, with one
face of the material becoming positively
charged and the opposite face negatively
charged. As a result voltage is generated.
• Measurement of pressure,force,acceleration
• Piezo material : Quartz, Barium titanate,
Zirconate titanate.
 PIEZOELECTRIC SENSORS

The net charge q = kx =SF

• x – charge displacement
• F – Force applied
• S – Charge Sensitivity
Charge Sensitivity depends on
1.Material concerned(Depends on S Value)
2. Orientation of the crystal
LVDT
 CONSTRUCTION & PRINCIPLE

• The LVDT consists of a single primary winding and

two secondary windings wound on a hollow
former.
• The secondary windings have an equal number of
turns but are connected in series opposition so
that emf’s induced in the coils oppose each other.
• The primary winding is connected to an a.c
source, whose frequency range from 50Hz to
20kHz.
 CONSTRUCTION & PRINCIPLE

• The position of the movable core determines

the flux linkage between the a.c excited
primary winding and each of the two
secondary windings.

• The core is made up of nickel –iron alloy is

slotted longitudinally to reduce eddy current
loss.
 CONSTRUCTION & PRINCIPLE

• The displacement to be measured is applied to an

arm attached to the core. With the core in the
center, or reference, position, the induced EMF in
the secondary winding are equal, and since they
oppose each other, the output voltage will be zero
 CONSTRUCTION & PRINCIPLE

• When an externally applied force moves the core to the left-

hand coil. The e.m.f induced in the left hand coil > right
hand coil.
• The magnitude of the output voltage and it is in phase with
the voltage of the left hand coil.
• Similarly, when a core moves to a right
 ADVANTAGES

• Infinite resolution is present in LVDT

• High output
• LVDT gives High sensitivity
• Very good linearity
• LVDT Provides Less friction
• Low hysteresis
• LVDT gives Low power consumption.
 DISADVANTAGES

• Very high displacement is required for generating high

voltages.

• Shielding is required since it is sensitive to magnetic field.

• The performance of the transducer gets affected by

vibrations

• Its is greatly affected by temperature changes.

 APPLICATIONS

• LVDTs provide position feedback in hydraulic applications

by monitoring the performance accuracy of actuators and
cylinders to improve operational efficiencies

• Another example is robotic arm picking up a piece of glass.

If the control system does not know when to stop the arm,
based on position feedback from an LVDT, the hydraulic
cylinder could drive the arm right through the piece of glass.
 LASER RANGE FINDERS
Laser range finders calculate distances from objects by utilizing a

laser beam. Using this principle, they can also detect any obstacles

that may lie in their path.

used in research and can typically be found in

automation,

automated guided vehicles,

security devices and next generation robots

OPTICAL ENCODER
An optical encoder is an electromechanical device
which has an electrical output in digital form
proportional to the angular position of the input shaft.

Optical encoders enable an angular displacement to

be converted directly into a digital form.
 An optical encoder is an angular position
sensor :
It has a shaft mechanically coupled to an input driver which
rotates a disc rigidly fixed to it. A succession of opaque and clear
segments are marked on the surface of the disc.

Light from infrared emitting diodes reaches the infrared

receivers through the transparent slits of the rotating disc. An
analogue signal is created.

Then electronically, the signal is amplified and converted into

digital form. This signal is then transmitted to the data processor.
 MACHINE VISION

Machine vision (MV) is the technology and methods used to

provide imaging-based automatic inspection and analysis for such
applications as automatic inspection, process control, and robot
guidance, usually in industry.
Machine vision is the ability of a computer to see; it employs one
or more video cameras, analog-to-digital conversion (ADC) and
digital signal processing (DSP). The resulting data goes to a
computer or robot controller. Machine vision is similar in
complexity to voice recognition.
FUNCTION OF MACHINE VISION