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Introduce about sensor using in Robot NAO

Introduce about sensor using in Robot NAO. Department: FTI-FHO-FPT Presenter: Vu Hoang Dung. OUTLINE. Introduce Sensors. 1. 2. Audio. Vision. Other Sensors. 3. 4. Introduce Sensors.

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Introduce about sensor using in Robot NAO

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  1. Introduce about sensor using in Robot NAO Department: FTI-FHO-FPT Presenter: Vu Hoang Dung

  2. OUTLINE Introduce Sensors 1 2 • Audio • Vision • Other Sensors 3 4

  3. Introduce Sensors • Sensoris a converter that measures a physical quantity and converts it into a signal which can be read by an observer or by an instrument. A sensor’s sensitivity indicates how much the sensor’s output changes when the measured quantity changes. • Senses of the NAO, the physical devices in robots that sense the environment are called sensor. • NAO sensors can divide into 3 types main sensors: • Audio: include devices which listen to sound and play to sound from microphone.(Example TTS and STT) • Vision: include devices which capture image from camera. (Example Face detect, Hand detect, Line detect …) • Other sensor: include devices which get value from environment. (Example touch sensor, battery sensor, infrared sensor, laser sensor, sonar sensor).

  4. Introduce Sensors

  5. Audio • Audio • NAO has 4 microphones built into its head that it uses to listen to sound • around it • Module in Audio • Audio Device: manage audio inputs and outputs • Audio Player: play audio file on the robot • Audio Recorder: record audio file on the robot • Sound Detection: detect sound events • Audio Source Localization: localize sounds detected • SpeechRecognition: make the robot understand what a human says • TextTo Speech: make the robot speak

  6. Audio • Example • Sound detection and source localization • Value return: • Number of sounds detected • Index of the sound start(=1), sound end(= 0) • Detection time • Gives an estimate of the probability[0,1] that the sound detected by the module corresponds to a real sound

  7. Vision • Vision • NAO has two cameras in its head. The cameras are vision sensors and • provide camera images for the NAO’s computer to process. This is different • from the human “sensor of sight” as sight would include processing the image • To understand what the robot sees

  8. Vision • Module in Vision • Backlighting: enables to check if the image of the camera is backlit. • Darkness: gives NAO the ability to detect if it is in a dark environment. • Face detection: gives NAO the ability to detect and recognize human faces. • Landmark detection: gives NAO the ability to detect specific visual landmarks. • Movement detection: gives NAO the ability to detect some movement and tell where it comes from. • Photo capture: provides tools to take pictures and save them on disk. • Red ball detection: gives NAO the ability to detect red and circular objects. • Video device: manages video inputs. • Video recorder: provides video recording tools. • Vision recognition: provides learning and recognition capabilities of visual patterns. • Visual compass: gives NAO the ability to use an image as a compass. • Beside: Hand detection, line detection, flashcard….

  9. Vision • Example • Landmark detection: use to get position of NAO with environment around • Value return: • Landmark ID • Landmark’s location in camera angles • The Landmark’s size in camera angles • Landmark’s is oriented about the vertical axis with NAO’s head

  10. Vision • Example • Red ball detection: • Value return: • CenterX, centerY are center of the ball in angles • SizeX, sizeY are the ball “horizontal and vertical radius” • Position of the camera in Torso frame • Position of the camera in robot frame

  11. Other Sensors • Besides above sensors, NAO also uses other sensors as touch, press, balance for robot, measure level power in robot • Module in other Sensors • Sensors: deals with bumpers, tactile hands, tactile head and press chest button. • Battery: manage level power and warn the user • Fsr: generates the event whenever the foot contact changes • Infrared: allows IR communication with NAO • Laser: retrieve data sent by the Laser head(optional device) • Sonar: retrieves ultrasonic sensor.

  12. Other Sensors • Example • Sensor: get value follow bumper, tactile, chest button • Bumper • Left bumper • Right bumper • Tactile hand • Back • Left • Right • Tactile head • Front • Back • Rear • Chest button • Simple click • Double click • Triple click

  13. Other Sensors • Example • Sonar: 2 emitters, 2 receives • Frequency: 40kHz • Sensitivity: -86dB • Resolution: 1cm • Detection range: 0.25 – 2.55 • Effective cone: 60o • Mode operation

  14. Other Sensors • Example • Event sensor : • Sonar Left Detected • Sonar Right Detected • Sonar Left Nothing Detected • Sonar Right Nothing Detected • Sonar Left Nothing Detected and Sonar Right Nothing Detected

  15. Other Sensors • Example • IR: • Use case • Use NAO as a remote control • Set NAO to receive orders from a remote control • Make several NAOs communicate together

  16. Other Sensors • Example • Led Sensor : allows you to control NAO’s LEDs

  17. Example - Subscribe • Example • Subscribe event:

  18. Example - Subscribe • Example • Subscribe event:

  19. Example - Subscribe • Example • unSubscribe event:

  20. Example - Subscribe • Example • Get value:

  21. Questions and Comments Thank for Your Attention

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