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FIGURE 37.13 A penlight laser, diffraction grating, filter, and video camera can be used to create a lowcost machine vision system.
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FIGURE 37.14 When projected onto a flat surface, the beams from the diffracted laser light form a regular grid.
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sound to quickly and efficiently navigate through dark caves. So accurate is their sonar that bats can sense tiny insects flying a dozen or more feet away. Similarly, robots don t always need light-sensitive vision systems. You may want to consider using an alternative system, either instead of or in addition to light-sensitive vision. The following sections outline some affordable technologies you can easily use.
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Like a cave bat, your robot can use high-frequency sounds to navigate its surroundings. Ultrasonic transducers are common in Polaroid instant cameras, electronic tape-measuring devices, automotive backup alarms, and security systems. All work by sending out a high-frequency burst of sound, then measuring the amount of time it takes to receive the reflected sound.
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Ultrasonic systems are designed to determine distance between the transducer and an object in front of it. More accurate versions can map an area to create a type of topographical image, showing the relative distances of several nearby objects along a kind of 3-D plane. Such ultrasonic systems are regularly used in the medical field. Some transducers are designed to be used in pairs one transducer to emit a series of short ultrasonic bursts, another transducer to receive the sound. Other transducers, such as the kind used on Polaroid cameras and electronic tape-measuring devices, combine the transmitter and receiver into one unit. An important aspect of ultrasonic imagery is that high sound frequencies disperse less readily than do low-frequency ones. That is, the sound wave produced by a high-frequency source spreads out much less broadly than the sound wave from a low-frequency source. This phenomenon improves the accuracy of ultrasonic systems. Both DigiKey and All Electronics, among others, have been known to carry new and surplus ultrasonic components suitable for robot experimenters. See s 36 and 38 for more information on using ultrasonic sensors to guide your robots.
RADAR
Radar systems work on the same basic principle as ultrasonics, but instead of high-frequency sound they use a high-frequency radio wave. Most people know about the highpowered radar equipment used in aviation, but lower-powered versions are commonly used in security systems, automatic door openers, automotive backup alarms, and of course, speed-measuring devices used by the police. Radar is less commonly found on robotics systems because it costs more than ultrasonics. But radar has the advantage that radar it is less affected by wind, temperature, and distance. For example, radar can be used up to several miles away; ultrasonics is useful only up to about 10 or 20 meters.
PASSIVE INFRARED
A favorite for security systems and automatic outdoor lighting, passive pyroelectric infrared (PIR) sensors detect the natural heat that all objects emit. This heat takes the form of infrared radiation a form of light that is beyond the limits of human vision. The PIR system merely detects a rapid change in the heat reaching the sensor; such a change usually represents movement. The typical PIR sensor is equipped with a Fresnel lens to focus infrared light from a fairly wide area onto the pea-sized surface of the detector. In a robotics vision application, you can replace the Fresnel lens with a telephoto lens arrangement that permits the detector to view only a small area at a time. Mounted onto a movable platform, the sensor could detect the instantaneous variations of infrared radiation of whatever objects are in front of the robot. See 36, Collision Avoidance and Detection, for more information on the use of PIR sensors.
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