机器人学基础_第6章_机器人传感器_蔡自兴资料.ppt

* Research have shown that the visual perception of information accounts for 80% of what people perceived from outside world. Cells of human vision have the magnitude of about 108, is 3000 times to auditory cells(听觉), and over 100 times to the sensory cells of the skin（皮肤触觉）. 6.3.3 Vision Sensors 视觉传感器 6.3 External Sensors * Charge-coupled device (CCD) is a major technology for digital imaging. Although CCDs are not the only technology to allow for light detection, CCDs are widely used in professional, medical, and scientific applications where high-quality image data is required. CCD (Charge-Coupled Device) Sensors 6.3 External Sensors * A total of 256 gray scale, from the Figure (a) to (f) followed by resolution of 512 × 512, 256 × 256,128 × 128,64 × 64,32 × 32,16 × 16. The impact of change on the image resolution 6.3 External Sensors * Figure (a) to (f) with resolution of 512 × 512, followed by 256, 64,16,8,4, and 2 gray levels. The impact of change on the image gray 6.3 External Sensors * Figure (a) to (f) followed by: 256 × 256,128-level gray scale; 181 × 181,64-level gray scale; 128 × 128,32-level gray scale; 90 × 90,16-level gray scale; 64 × 64,8-level gray scale; 45 × 45,4-level gray scale. The impact of changes in both resolution and grayscale 6.3 External Sensors * * 6.1 Introduction to Robot Sensors 6.2 Internal Sensors（内部传感器） 6.3 External Sensors（外部传感器） 6.4 Robot Sensor Application Considerations 6.5 Summary Ch.6 Robot Sensors * 6.4 Considerations in Robot Sensor Application 机器人传感器应用中考虑的问题 High precision, good repeatability Good stability, high reliability Strong anti-interference ability Light weight, small size, easy installation Cheap 6.4 Robot Sensor Application Considerations * * 6.1 Introduction to Robot Sensors 6.2 Internal Sensors（内部传感器） 6.3 External Sensors（外部传感器） 6.4 Robot Sensor Application Considerations 6.5 Summary Ch.6 Robot Sensors * 6.5 Summary 小结 传感机器人是通过各种传感器或传感系统，向机器人提供感觉的装置，如视觉、听觉、触觉、力觉、嗅觉等