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HOME ROBOTS AND HOW NOT TO CHEW UP YOUR FURNITURE
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using today s technology. Who knows you might find your fortune coming up with a unique and practical way of having a robot retrieve a cold beverage from your refrigerator.
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36.1 Sensing the Environment: Protecting the Furniture and the Robot
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It will take a leap of faith to allow a robot to move about your home without supervision. Chances are, it won t be your leap of faith, but of others responsible for the upkeep of the house. You must think about what goes through their minds when you say you want to let a robot loose and it will save them a lot of work chances are they are thinking about cleaning up all the mess and repairing the damage the robot causes. A number of things you can do to make the robot safe for operating in a room are shown in the cross-sectional view of a home robot in Fig. 36-1. The robot will have a soft, flexible bumper that will not mar or scratch objects that it runs into or rubs against. Inside the bumper will be contact switches all the way around the robot that are fairly sensitive and will close when the robot encounters an object with more than a few ounces of resistance.
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FIGURE 36-1 The different sensors that will be required to ensure that a home robot does not run into and damage objects around a home. These sensors must be located around the robot to ensure that nothing is missed in between the two sensors, resulting in the robot colliding with it.
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The bumpers are the last line of defense in protecting a home against a robot. The purpose of the ultrasonic ranger and infrared ranger is to map out objects around the robot so it can change course before colliding with objects in its path. As you will discover when you work with different object sensors and ranging equipment different methods will detect different objects better than others; the ultrasonic ranger works better on dark or black objects that do not reflect light while the infrared ranger works better with curtains that allow ultrasonic signals to pass through while being attenuated (and will not have enough energy to be detected after reflecting off of hard objects behind the curtains). The downward-pointing infrared object detection sensor is used to detect the surface the robot is running on and to ensure the robot doesn t fall down any stairs. While this may sound funny, it is a very serious concern. It is especially serious if the robot weighs 10 lb or more and could cause some damage or injury falling down a set of stairs. The bumpers, while being the last line of defense, will probably come into contact with a variety of objects the ultrasonic and infrared ranging sensors will not detect. The most common objects that they will miss are thin table and chair legs. This means that while your robot can go very fast, it shouldn t. It should only move at a few feet per second so that it can stop in a reasonable distance and not harm the object it has collided with. Cats, dogs, and other pets will have to be accounted for as well. Their fur can be difficult for sensors to detect and they can react unpredictably and violently to objects running into them. Consideration must be made as to how the robot should respond to a collision with an animal (as opposed to an object). While turning around and moving away from the object that has been collided with may be an option, a better one might be to stop and wait to see if the object attacks the robot as many pets will do. In this case, it might be best for the robot to stay stopped until it has been determined that the pet has left or gone back to sleep.
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