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Robotics1d-mBot_Sensors

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10 views6 pages

Robotics1d-mBot_Sensors

Uploaded by

ceit
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© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Robotics 1d

mBot Sensors

A robot will have a tough time if it cannot sense the world around it. The mBot has a number of sensors
already onboard which help it respond to things it might encounter as it moves around.

 Ultrasonic Sensor

 Line Following Sensor

 Light Sensors
 Infrared Receiver (Communication
between mBots)
 Infrared Transmitter (Communication
between mBots)

Robotics 1d – Sensors Page 1 of 6 June 2017


In the mBlock interface there are code blocks that match each type of sensor in the standard mBot kit as
well as extra sensors and devices that can be added.

You will notice that these blocks are all designed to fit where you would put a number in the Scratch
operators and control blocks. This means they can be used directly to control program loops, motor
speeds, and anywhere else where you might use a number.

Test the Ultrasonic Sensor


We’re going to focus on the Ultrasonic range finder.

How does it work?


The ultrasonic range finder works by sending out pulses of sound at a very high frequency. The sound
bounces off objects and returns to the sensor as an echo. The sensor measures the time between sending
the pulse and hearing the echo. Because the sensor knows the speed of sound is 340m/s it can calculate
the distance to the object that a sound wave reflected off and report that to the mBot. It is using
echolocation in much the same way a bat does.

The sound emitted by the sensor is 40khz. This is too high for us to hear. Our hearing range is typically
between 20Hz and 20kHz. A dog could hear it because a dog can hear up to 45kHz. A bat could also hear
it because they can hear up to 200kHz. Would it confuse a bat?

The Manufacturers Specifications state that the sensor


can do the following;

 It has a measurement resolution of 10mm.


 It has an angle over which it can detect things of 15°
 And it can measure distances between 2cm and 4m

The reading from the sensor is in centimetres.

Setting up a test
To test it we will make use of an extra device we can add to
our mBot. We have some nifty 4-digit displays. If you don't
have a 4-digit display, use the onboard LEDs to light up if
they detect something at a particular distance.

We’ll connect the 4-digit display to Port 1 on the mBot.


Robotics 1d – Sensors Page 2 of 6 June 2017
Amongst the mBlock code blocks we can find the following block to interact with the 4-digit display.

Create a simple program to read the Ultrasonic sensor and display the distance it is measuring. Upload
this and see that it responds to your hand in front of it. Note: We have created the variable called
Distance for holding the reading from the sensor. You can put the distance sensor block directly into the 7-
segment display block if you wish. To do this, just drag and drop the Ultrasonic sensor block into the place
occupied by the number “100” in the image above.

Let’s test its sensitivity.


Here are some simple tests to try with this arrangement. The 4-digit display will show the distance in cm to
the object the mBot is detecting.

 How far away and how close does it detect distances? You may need to point it at a wall to
measure longer distances. How does that match the manufacturer’s specifications?
 What is the measurement resolution? Measure how much the sensor reading changes if you move
something towards it by 10cm, 20mm, 10mm, and 5mm?
 How big does the object need to be before it can be detected?
 Are there shapes it has trouble with?
 What is the angle of view over which the mBot can detect things?

Do we know more about the limitations of this sensor?

Robotics 1d – Sensors Page 3 of 6 June 2017


Obstacle Avoidance
Let’s recreate the obstacle avoidance behaviour of the default program. The program requires the following
measurements and decisions to be made by the mBot.

Logic for Obstacle Avoidance

Have a go at using these decisions yourself as you walk around the room.

Now try to build an mBot sketch that will do the same. Remember to add in the Wait command to ensure
you have sufficient time for the motors to move enough.

Robotics 1d – Sensors Page 4 of 6 June 2017


Here is one solution to the problem.

Your Challenge
Is your mBot afraid of the dark? No? Well it - should be. There’s monsters out there.

Use the on-board light sensor to make your mBot speed up to get out of dark places quickly.

We’re done for this Session


Next time. We’ll look at the on-board line-following sensor.

Robotics 1d – Sensors Page 5 of 6 June 2017


Challenge Sketch
Here is a suggested sketch to adapt the sketch above to make it run faster if the light levels are low.

This document “Robotics1d – mBot Sensors” by Hamish Trolove is provided under a creative commons
license - Attribution, Share Alike.

http://creativecommons.org/licenses/by-sa/4.0/

www.techmonkeybusiness.com
Robotics 1d – Sensors Page 6 of 6 June 2017

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